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master's thesis
Izrada i umjeravanje kinematičkog modela svesmjerne platforme robota Pepper
Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing, 2021. urn:nbn:hr:168:997199
Finderle, Lea
University of Zagreb
Faculty of Electrical Engineering and Computing

Institutional repository: FER Repository

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Finderle, L. (2021). Izrada i umjeravanje kinematičkog modela svesmjerne platforme robota Pepper (Master's thesis). Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing. Retrieved from https://urn.nsk.hr/urn:nbn:hr:168:997199

Finderle, Lea. "Izrada i umjeravanje kinematičkog modela svesmjerne platforme robota Pepper." Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2021. https://urn.nsk.hr/urn:nbn:hr:168:997199

Finderle, Lea. "Izrada i umjeravanje kinematičkog modela svesmjerne platforme robota Pepper." Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2021. https://urn.nsk.hr/urn:nbn:hr:168:997199

Finderle, L. (2021). 'Izrada i umjeravanje kinematičkog modela svesmjerne platforme robota Pepper', Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, accessed 17 July 2024, https://urn.nsk.hr/urn:nbn:hr:168:997199

Finderle L. Izrada i umjeravanje kinematičkog modela svesmjerne platforme robota Pepper [Master's thesis]. Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing; 2021 [cited 2024 July 17] Available at: https://urn.nsk.hr/urn:nbn:hr:168:997199

L. Finderle, "Izrada i umjeravanje kinematičkog modela svesmjerne platforme robota Pepper", Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, Zagreb, 2021. Available at: https://urn.nsk.hr/urn:nbn:hr:168:997199

Metadata
TitleIzrada i umjeravanje kinematičkog modela svesmjerne platforme robota Pepper
Title (english)Development and calibration of the kinematic model of the Pepper robot omnidirectional platform
AuthorLea Finderle
MentorZdenko Kovačić (mentor)
Committee memberZdenko Kovačić (predsjednik povjerenstva)
Committee memberStjepan Bogdan (član povjerenstva)
Committee memberGoran Vasiljević (član povjerenstva)
GranterUniversity of Zagreb
Faculty of Electrical Engineering and Computing
Zagreb
Defense date and country2021-07-09, Croatia
Scientific / art field,
discipline and subdiscipline		TECHNICAL SCIENCES
Electrical Engineering
Abstract
Cilj je ovoga rada izrada matematičkog modela gibanja svesmjerne platforme robota Pepper te umjeravanje dobivenog kinematičkog modela. Opisan je korišteni robot, zajedno s tehničkim specifikacijama i načinima komunikacije. Nadalje je opisan izračun direktne i inverzne kinematike te postupak umjeravanja. Izračun odometrije napravljen je u Robotskom operativnom sustavu. Referentne vrijednosti korištene za umjeravanje kinematičkog modela uzete su snimanjem kretanja robota Optitrack sustavom za praćenje pokreta. Stvarne vrijednosti zakreta kotača robota uzete su korištenjem DCM softverskog modula. Cijeli postupak umjeravanja napisan je u sklopu programskog alata MATLAB.
Abstract (english)
The aim of this paper is to create a mathematical model of the motion of the Pepper robot omnidirectional platform and to calibrate the obtained kinematic model. The Pepper robot is described, along with technical specifications and means of communications. The calculation of forward and inverse kinematics and the calibration procedure are further described. Odometry calculation was made in the Robotic Operating System. The reference values used to calibrate the kinematic model were taken by recording the motion of the robot by the Optitrack motion tracking system. Actual values of robot wheel rotations were taken using the DCM software module. The entire calibration process is written as part of the MATLAB software tool.
Keywords
Keywords (english)
Languagecroatian
URN:NBNurn:nbn:hr:168:997199
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 14:53:55