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master's thesis
Planiranje gibanja manipulatora pomoću polja brzine
Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing, 2020. urn:nbn:hr:168:833626
Pavelko, Lea
University of Zagreb
Faculty of Electrical Engineering and Computing

Institutional repository: FER Repository

Cite this document

Pavelko, L. (2020). Planiranje gibanja manipulatora pomoću polja brzine (Master's thesis). Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing. Retrieved from https://urn.nsk.hr/urn:nbn:hr:168:833626

Pavelko, Lea. "Planiranje gibanja manipulatora pomoću polja brzine." Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2020. https://urn.nsk.hr/urn:nbn:hr:168:833626

Pavelko, Lea. "Planiranje gibanja manipulatora pomoću polja brzine." Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2020. https://urn.nsk.hr/urn:nbn:hr:168:833626

Pavelko, L. (2020). 'Planiranje gibanja manipulatora pomoću polja brzine', Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, accessed 02 November 2024, https://urn.nsk.hr/urn:nbn:hr:168:833626

Pavelko L. Planiranje gibanja manipulatora pomoću polja brzine [Master's thesis]. Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing; 2020 [cited 2024 November 02] Available at: https://urn.nsk.hr/urn:nbn:hr:168:833626

L. Pavelko, "Planiranje gibanja manipulatora pomoću polja brzine", Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, Zagreb, 2020. Available at: https://urn.nsk.hr/urn:nbn:hr:168:833626

Metadata
TitlePlaniranje gibanja manipulatora pomoću polja brzine
Title (english)Manipulator motion planning based on Passive Velocity Field Control
AuthorLea Pavelko
MentorStjepan Bogdan (mentor)
Committee memberStjepan Bogdan (predsjednik povjerenstva)
Committee memberZdenko Kovačić (član povjerenstva)
Committee memberMatko Orsag (član povjerenstva)
GranterUniversity of Zagreb
Faculty of Electrical Engineering and Computing
Zagreb
Defense date and country2020-07-16, Croatia
Scientific / art field,
discipline and subdiscipline		TECHNICAL SCIENCES
Electrical Engineering
Abstract
U radu je promatran robotski manipulator Franka Emika Panda. Implementiran je algoritam upravljanja koji koristi polja brzine za praćenje željene konture. Polje brzine je skup vektora koji su pridruženi svakoj točki prostora. Svaki vektor sastoji se od dvije komponente: komponenta u smjeru krivulje i komponenta u smjeru tangente na krivulju. Za određivanje vektora u smjeru krivulje bilo je potrebno naći najbližu točku krivulje koja je najbliža trenutnoj poziciji manipulatora, za što se koristio k-nn algoritam. Za optimalno upravljanje potrebno je pažljivo odabrati odnos komponenata u rezultantnom vektoru. Eksperimenti su provedeni u virtualnom okruženju te je razmotrena mogućnost implementacije u stvarnom okruženju.
Abstract (english)
This thesis considers a robot manipulator Franka Emika Panda. The implemented algorithm uses velocity fields for contour tracking. The velocity field is a group of vectors that are defined for every point in space. Every vector has two components: one in the direction of the contour and one in the direction of a tangent to the curve. The k-nn algorithm was used to find the closest point on a curve in order to find the directional component of the velocity vector. The ratio of the two components in the end velocity vector is important for optimal motion control. Experiments were conducted in a simulation environment with the possibility of implementation in a real-world setup.
Keywords
Keywords (english)
Languagecroatian
URN:NBNurn:nbn:hr:168:833626
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 13:24:42