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master's thesis
Izgradnja jednonožnog momentom upravljanog robota
Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing, 2021. urn:nbn:hr:168:255072
Džida, Martin
University of Zagreb
Faculty of Electrical Engineering and Computing

Institutional repository: FER Repository

Cite this document

Džida, M. (2021). Izgradnja jednonožnog momentom upravljanog robota (Master's thesis). Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing. Retrieved from https://urn.nsk.hr/urn:nbn:hr:168:255072

Džida, Martin. "Izgradnja jednonožnog momentom upravljanog robota." Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2021. https://urn.nsk.hr/urn:nbn:hr:168:255072

Džida, Martin. "Izgradnja jednonožnog momentom upravljanog robota." Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2021. https://urn.nsk.hr/urn:nbn:hr:168:255072

Džida, M. (2021). 'Izgradnja jednonožnog momentom upravljanog robota', Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, accessed 28 August 2024, https://urn.nsk.hr/urn:nbn:hr:168:255072

Džida M. Izgradnja jednonožnog momentom upravljanog robota [Master's thesis]. Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing; 2021 [cited 2024 August 28] Available at: https://urn.nsk.hr/urn:nbn:hr:168:255072

M. Džida, "Izgradnja jednonožnog momentom upravljanog robota", Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, Zagreb, 2021. Available at: https://urn.nsk.hr/urn:nbn:hr:168:255072

Metadata
TitleIzgradnja jednonožnog momentom upravljanog robota
Title (english)Construction of a torque controlled one legged robot
AuthorMartin Džida
MentorZdenko Kovačić (mentor)
Committee memberZdenko Kovačić (predsjednik povjerenstva)
Committee memberStjepan Bogdan (član povjerenstva)
Committee memberMatko Orsag (član povjerenstva)
GranterUniversity of Zagreb
Faculty of Electrical Engineering and Computing
Zagreb
Defense date and country2021-02-19, Croatia
Scientific / art field,
discipline and subdiscipline		TECHNICAL SCIENCES
Electrical Engineering
Abstract
Ovaj rad se bavi dizajniranjem konstrukcije momentom upravljanog robota. Dizajniran je i testiran aktuator koji je upravljan po momentu. Aktuator je dizajniran na dva načina. Prvo se razmatrao izravan pogon, a zatim i kvazi izravan pogon. Pokazano je da aktuator u izravnom pogonu daje stabilne i željene momente. Definirane su i gornje granice tih vrijednosti. Kvazi izravnim pogonom je pokazano da se mogu dobiti veliki momenti i analizirane su nelinearne pojave. Uočeni su problemi s izradom dijelova 3D printerom za reduktor. Implementiran je i testiran upravljački algoritam pomoću kaskade PID regulatora i definiranje trajektorije brzine i akceleracije. Pokazano je stabilno i kontrolirano upravljanje gravitacijskim teretom. Također je analizirana struktura planarnog četverokutnog zglobnog spoja. Ona je dalje primijenjena u konstrukciji robota. Konstruirana je konstrukcija noge robota koja implementira dupli četverokutni zglobni spoj i upravljanje dizajniranim aktuatorima.
Abstract (english)
This paper deals with the design of a torque-controlled robot structure. A torque-controlled actuator has been designed and tested. The actuator is designed in two ways. Direct drive was considered first, followed by quasi-direct drive. It has been shown that the actuator in direct drive gives stable and desired moments. The upper limits of these values are also defined. Quasi direct drive has shown that large moments can be obtained and nonlinear phenomena are analyzed. Problems were noticed with the construction of parts by a 3D printer for the transmission. The control algorithm was implemented and tested using the PID controller cascade and speed and acceleration trajectory definition. Stable and controlled gravitational load control is shown. The structure of the planar quadrangular joint was also analyzed. It is further applied in robot construction. A robot leg construction has been constructed that implements a four-bar linkage and control by designed actuators.
Keywords
Keywords (english)
Languagecroatian
URN:NBNurn:nbn:hr:168:255072
Study programmeTitle: Electrical Engineering and Information Technology
Study programme type: university
Study level: graduate
Academic / professional title: magistar/magistra inženjer/inženjerka elektrotehnike i informacijske tehnologije (magistar/magistra inženjer/inženjerka elektrotehnike i informacijske tehnologije)
Type of resourceText
File originBorn digital
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Created on2023-01-13 12:10:44