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undergraduate thesis
Upravljanje kontaktnom silom kod ravninskog robota s tri stupnja slobode gibanja
Zagreb: University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, 2024. urn:nbn:hr:235:709497
Marasović, Lovre
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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Marasović, L. (2024). Upravljanje kontaktnom silom kod ravninskog robota s tri stupnja slobode gibanja (Undergraduate thesis). Zagreb: University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture. Retrieved from https://urn.nsk.hr/urn:nbn:hr:235:709497

Marasović, Lovre. "Upravljanje kontaktnom silom kod ravninskog robota s tri stupnja slobode gibanja." Undergraduate thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, 2024. https://urn.nsk.hr/urn:nbn:hr:235:709497

Marasović, Lovre. "Upravljanje kontaktnom silom kod ravninskog robota s tri stupnja slobode gibanja." Undergraduate thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, 2024. https://urn.nsk.hr/urn:nbn:hr:235:709497

Marasović, L. (2024). 'Upravljanje kontaktnom silom kod ravninskog robota s tri stupnja slobode gibanja', Undergraduate thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, accessed 27 December 2024, https://urn.nsk.hr/urn:nbn:hr:235:709497

Marasović L. Upravljanje kontaktnom silom kod ravninskog robota s tri stupnja slobode gibanja [Undergraduate thesis]. Zagreb: University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture; 2024 [cited 2024 December 27] Available at: https://urn.nsk.hr/urn:nbn:hr:235:709497

L. Marasović, "Upravljanje kontaktnom silom kod ravninskog robota s tri stupnja slobode gibanja", Undergraduate thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, Zagreb, 2024. Available at: https://urn.nsk.hr/urn:nbn:hr:235:709497

Metadata
TitleUpravljanje kontaktnom silom kod ravninskog robota s tri stupnja slobode gibanja
Title (english)Force control for plane robot with three degrees of freedom
AuthorLovre Marasović
MentorAndrej Jokić (mentor)
GranterUniversity of Zagreb
Faculty of Mechanical Engineering and Naval Architecture
Zagreb
Defense date and country2024-02-28, Croatia
Scientific / art field,
discipline and subdiscipline		TECHNICAL SCIENCES
Mechanical Engineering
Abstract
U ovom završnom radu izveden je simulacijski model ravninskog robota s tri rotacijska stupnja slobode gibanja (RRR) u programskom paketu MATLAB/Simulink. Riješen je direktni i inverzni kinematički problem pomoću homogenih matrica transformacija, a zatim je izveden dinamički model robota. Simulacijski model dinamike robota upotpunjen je regulatorima i povratnim spregama za jedan pristup upravljanju dodirnom silom i prikazane su dvije simulacije za navedeni model.
Abstract (english)
In this undergraduate thesis, a simulation model of plane robot with three rotational degrees of freedom is created in the MATALB/Simulink software package. Firstly, the direct and inverse kinematic problems are solved using homogenous transformation matrices, in addition dynamic model was derived. Simulation model of dynamics is supplemented with controllers and feedback loops for one of the force control aproaches and results of closed-loop simulations are presented.
Keywords
Keywords (english)
Languagecroatian
URN:NBNurn:nbn:hr:235:709497
Study programmeTitle: Mechanical Engineering
Study programme type: university
Study level: undergraduate
Academic / professional title: sveučilišni/a prvostupnik/ prvostupnica (baccalaureus/baccalaurea) inženjer/inženjerka strojarstva (sveučilišni/a prvostupnik/ prvostupnica (baccalaureus/baccalaurea) inženjer/inženjerka strojarstva)
Type of resourceText
File originBorn digital
Access conditionsOpen access
Terms of useLicence In copyright icon
Created on2024-02-27 11:38:42