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master's thesis
Inverzna kinematika manipulatora ostvarena pomoću dubokog potpornog učenja
Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing, 2020. urn:nbn:hr:168:595620
Torić, Josip
University of Zagreb
Faculty of Electrical Engineering and Computing

Institutional repository: FER Repository

Cite this document

Torić, J. (2020). Inverzna kinematika manipulatora ostvarena pomoću dubokog potpornog učenja (Master's thesis). Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing. Retrieved from https://urn.nsk.hr/urn:nbn:hr:168:595620

Torić, Josip. "Inverzna kinematika manipulatora ostvarena pomoću dubokog potpornog učenja." Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2020. https://urn.nsk.hr/urn:nbn:hr:168:595620

Torić, Josip. "Inverzna kinematika manipulatora ostvarena pomoću dubokog potpornog učenja." Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2020. https://urn.nsk.hr/urn:nbn:hr:168:595620

Torić, J. (2020). 'Inverzna kinematika manipulatora ostvarena pomoću dubokog potpornog učenja', Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, accessed 27 December 2024, https://urn.nsk.hr/urn:nbn:hr:168:595620

Torić J. Inverzna kinematika manipulatora ostvarena pomoću dubokog potpornog učenja [Master's thesis]. Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing; 2020 [cited 2024 December 27] Available at: https://urn.nsk.hr/urn:nbn:hr:168:595620

J. Torić, "Inverzna kinematika manipulatora ostvarena pomoću dubokog potpornog učenja", Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, Zagreb, 2020. Available at: https://urn.nsk.hr/urn:nbn:hr:168:595620

Metadata
TitleInverzna kinematika manipulatora ostvarena pomoću dubokog potpornog učenja
Title (english)Inverse kinematics for manipulators using deep reinforcement learning
AuthorJosip Torić
MentorMarija Seder (mentor)
Committee memberMarija Seder (predsjednik povjerenstva)
Committee memberIvan Petrović (član povjerenstva)
Committee memberIvan Marković (član povjerenstva)
GranterUniversity of Zagreb
Faculty of Electrical Engineering and Computing
Zagreb
Defense date and country2020-07-10, Croatia
Scientific / art field,
discipline and subdiscipline		TECHNICAL SCIENCES
Computing
Abstract
Inverzna kinematika manipulatora učenja iznimno je kompliciran problem. Cilj ovog rada je bio riješiti taj problem uz pomoć dubokog potpornog učenja. Napravljen je pregled područja dubokog potpornog učenja, iznesene su teoretske osnove, ključni pojmovi dubokog potpornog učenja te algoritmi gradijenta politike. Riješen je problem dohvaćanja objekta u prostoru korištenjem robotske ruke Jaco, prvo u prostoru bez prepreka, a zatim i s preprekama.
Abstract (english)
Inverse kinematics of robotic manipulators is a very complicated problem. The aim of this thesis was to solve that problem using deep reinforcement learning. An overview of the area of deep reinforcement learning was made, the theoretical foundations, key concepts of deep supportive learning and policy gradient algorithms were presented. Problem of reaching target in space using robotic manipulator arm Jaco was solved, first in space without obstacles and then in space with obstacles.
Keywords
Keywords (english)
Languagecroatian
URN:NBNurn:nbn:hr:168:595620
Study programmeTitle: Computing
Study programme type: university
Study level: graduate
Academic / professional title: magistar/magistra inženjer/inženjerka računarstva (magistar/magistra inženjer/inženjerka računarstva)
Type of resourceText
File originBorn digital
Access conditionsClosed access
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Created on2023-01-13 14:04:10