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master's thesis
Matematičko modeliranje kinematike i sinteza upravljanja mobilnim robotom s četiri zakretna i četiri neovisno pogonjena kotača
Zagreb: University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, 2024. urn:nbn:hr:235:128820
Škifić, Niko
University of Zagreb
Faculty of Mechanical Engineering and Naval Architecture

Institutional repository: Repository of Faculty of Mechanical Engineering and Naval Architecture University of Zagreb

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Škifić, N. (2024). Matematičko modeliranje kinematike i sinteza upravljanja mobilnim robotom s četiri zakretna i četiri neovisno pogonjena kotača (Master's thesis). Zagreb: University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture. Retrieved from https://urn.nsk.hr/urn:nbn:hr:235:128820

Škifić, Niko. "Matematičko modeliranje kinematike i sinteza upravljanja mobilnim robotom s četiri zakretna i četiri neovisno pogonjena kotača." Master's thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, 2024. https://urn.nsk.hr/urn:nbn:hr:235:128820

Škifić, Niko. "Matematičko modeliranje kinematike i sinteza upravljanja mobilnim robotom s četiri zakretna i četiri neovisno pogonjena kotača." Master's thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, 2024. https://urn.nsk.hr/urn:nbn:hr:235:128820

Škifić, N. (2024). 'Matematičko modeliranje kinematike i sinteza upravljanja mobilnim robotom s četiri zakretna i četiri neovisno pogonjena kotača', Master's thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, accessed 29 November 2024, https://urn.nsk.hr/urn:nbn:hr:235:128820

Škifić N. Matematičko modeliranje kinematike i sinteza upravljanja mobilnim robotom s četiri zakretna i četiri neovisno pogonjena kotača [Master's thesis]. Zagreb: University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture; 2024 [cited 2024 November 29] Available at: https://urn.nsk.hr/urn:nbn:hr:235:128820

N. Škifić, "Matematičko modeliranje kinematike i sinteza upravljanja mobilnim robotom s četiri zakretna i četiri neovisno pogonjena kotača", Master's thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, Zagreb, 2024. Available at: https://urn.nsk.hr/urn:nbn:hr:235:128820

Metadata
TitleMatematičko modeliranje kinematike i sinteza upravljanja mobilnim robotom s četiri zakretna i četiri neovisno pogonjena kotača
Title (english)Mathematical modelling of kinematics and control synthesis of a mobile robot with four steering and four independently driven wheels
AuthorNiko Škifić
MentorVladimir Milić (mentor)
GranterUniversity of Zagreb
Faculty of Mechanical Engineering and Naval Architecture
Zagreb
Defense date and country2024-01-25, Croatia
Scientific / art field,
discipline and subdiscipline		TECHNICAL SCIENCES
Electrical Engineering
Automation and Robotics
Abstract
Ovaj rad je fokusiran na razvoj regulatora za vođenje mobilnog robota duž zadane trajektorije. Robot je posebno opremljen sa četiri zakretna i neovisno pogonjena kotača. Uz određene pretpostavke, jednadžbe kinematike robota pretvaraju se u dvolančani format s trostrukim ulazom, s pojedinačnim generatorom u lancu. Zatim se provodi linearna aproksimacija ovih jednadžbi za slučaj malih odstupanja oko željene trajektorije. Ovaj pristup rezultira modelom vremenski promjenjivog sustava, koji je pogodan za sintezu vremenski promjenjivog linearnog zakona upravljanja temeljenog na principu kvadratne optimalnosti. Najučinkovitija verzija ovog zakona upravljanja pronađena je računalnim simulacijama provedenim u MATLAB-u (MathWorks, Natick, MA, SAD). Ovaj zakon upravljanja se zatim primjenjuje na stvarnom mobilnom robotu, razvijenom u Regionalnom centru izvrsnosti za robotske tehnologije (CRTA). Implementacija regulatora provedena je sustavom Robot Operating System (ROS), a njegova se izvedba procjenjuje kroz eksperimentalna mjerenja pomoću OptiTrack sustava.
Abstract (english)
This master’s thesis is focused on developing a controller for guiding a mobile robot along the desired trajectory. The robot is uniquely equipped with four steerable and independently powered wheels. By making certain assumptions, equations of the robot kinematics are transformed into a format known as three-input, two-chain, single-generator chained form. A linear approximation of these equations is then performed for the case in which the perturbations around the desired trajectory are small. This approach results in a time-varying system model, which is suitable for the sinthesis of a time-varying linear control law based on the principle of quadratic optimality. The most effective version of this control law is identified through computer simulations conducted in MATLAB (MathWorks, Natick, MA, USA). This control law is then applied to a real-world mobile robot, developed at the Regional Center of Excellence for Robotic Technologies (CRTA). The implementation of the regulator is carried out by Robot Operating System (ROS), and its performance is assessed through experimental measurements using the OptiTrack system.
Keywords
Keywords (english)
Languagecroatian
URN:NBNurn:nbn:hr:235:128820
Study programmeTitle: Mechanical Engineering
Study programme type: university
Study level: graduate
Academic / professional title: magistar/magistra inženjer/inženjerka strojarstva (magistar/magistra inženjer/inženjerka strojarstva)
Type of resourceText
File originBorn digital
Access conditionsOpen access
Terms of useLicence In copyright icon
Created on2024-01-23 16:21:21