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master's thesis
Određivanje kinematike mekih manipulatora
Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing, 2021. urn:nbn:hr:168:334637
Banović, Nikola
University of Zagreb
Faculty of Electrical Engineering and Computing

Institutional repository: FER Repository

Cite this document

Banović, N. (2021). Određivanje kinematike mekih manipulatora (Master's thesis). Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing. Retrieved from https://urn.nsk.hr/urn:nbn:hr:168:334637

Banović, Nikola. "Određivanje kinematike mekih manipulatora." Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2021. https://urn.nsk.hr/urn:nbn:hr:168:334637

Banović, Nikola. "Određivanje kinematike mekih manipulatora." Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2021. https://urn.nsk.hr/urn:nbn:hr:168:334637

Banović, N. (2021). 'Određivanje kinematike mekih manipulatora', Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, accessed 09 August 2024, https://urn.nsk.hr/urn:nbn:hr:168:334637

Banović N. Određivanje kinematike mekih manipulatora [Master's thesis]. Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing; 2021 [cited 2024 August 09] Available at: https://urn.nsk.hr/urn:nbn:hr:168:334637

N. Banović, "Određivanje kinematike mekih manipulatora", Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, Zagreb, 2021. Available at: https://urn.nsk.hr/urn:nbn:hr:168:334637

Metadata
TitleOdređivanje kinematike mekih manipulatora
Title (english)Kinematic modelling of soft manipulators
AuthorNikola Banović
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 country2021-07-13, Croatia
Scientific / art field,
discipline and subdiscipline		TECHNICAL SCIENCES
Electrical Engineering
Abstract
Meki manipulatori svrstavaju se u kategoriju kontinuiranih robota koji zbog svoje fleksibilnosti mogu ostvariti složene trajektorije u neuređenim okruženjima. Često se koriste mekani manipulatori upravljani zatezanjem tetiva koje prolaze strukturom deformabilnog materijala (silikona) podijeljenog u nekoliko sekcija. Veliki je izazov odrediti direktnu i inverznu kinematiku ovakvog manipulatora. Jedan od pristupa koristi po dijelovima konstantnu zakrivljenost podsekcija mekanih članaka pod utjecajem zatezanja tetiva. U diplomskom je radu jednom ovakvom manipulatoru određena direktna i inverzna kinematika te je simulirana u Matlabu. Nadalje, manipulator je izrađen te su simulacije provjerene eksperimentalno.
Abstract (english)
Soft manipulators fall into the category of continuum robots which, thanks to their flexibility, can can follow complex trajectories in cluttered environments. Often these manipulators are actuated by pulling on tendons embedded inside a structure made out of a deformable material (silicone). It is challenging to determine the forward and inverse kinematics for this type of manipulator. One of the approaches uses piecewise constant curvature approximations to approximate the manipulator shape. In this work, for a manipulator of this type, the forward and inverse kinematics are formulated and simulated in Matlab. Furthermore, the manipulator is manufactured and the simulation is validated experimentally.
Keywords
Keywords (english)
Languageenglish
URN:NBNurn:nbn:hr:168:334637
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 14:27:33