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master's thesis
Upravljanje robotskim manipulatorima primjenom Fourierovih neuronskih mreža
Zagreb: University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, 2019. urn:nbn:hr:235:589404
Brkić, Antonio
University of Zagreb
Faculty of Mechanical Engineering and Naval Architecture

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

Cite this document

Brkić, A. (2019). Upravljanje robotskim manipulatorima primjenom Fourierovih neuronskih mreža (Master's thesis). Zagreb: University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture. Retrieved from https://urn.nsk.hr/urn:nbn:hr:235:589404

Brkić, Antonio. "Upravljanje robotskim manipulatorima primjenom Fourierovih neuronskih mreža." Master's thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, 2019. https://urn.nsk.hr/urn:nbn:hr:235:589404

Brkić, Antonio. "Upravljanje robotskim manipulatorima primjenom Fourierovih neuronskih mreža." Master's thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, 2019. https://urn.nsk.hr/urn:nbn:hr:235:589404

Brkić, A. (2019). 'Upravljanje robotskim manipulatorima primjenom Fourierovih neuronskih mreža', Master's thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, accessed 25 November 2024, https://urn.nsk.hr/urn:nbn:hr:235:589404

Brkić A. Upravljanje robotskim manipulatorima primjenom Fourierovih neuronskih mreža [Master's thesis]. Zagreb: University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture; 2019 [cited 2024 November 25] Available at: https://urn.nsk.hr/urn:nbn:hr:235:589404

A. Brkić, "Upravljanje robotskim manipulatorima primjenom Fourierovih neuronskih mreža", Master's thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, Zagreb, 2019. Available at: https://urn.nsk.hr/urn:nbn:hr:235:589404

Metadata
TitleUpravljanje robotskim manipulatorima primjenom Fourierovih neuronskih mreža
Title (english)Control of robot manipulators by using Fourier neural networks
AuthorAntonio Brkić
MentorJosip Kasać (mentor)
GranterUniversity of Zagreb
Faculty of Mechanical Engineering and Naval Architecture
Zagreb
Defense date and country2019-12-05, Croatia
Scientific / art field,
discipline and subdiscipline		TECHNICAL SCIENCES
Mechanical Engineering
Abstract
Tema ovog diplomskog rada je upravljanje robotskim manipulatorima primjenom Fourierovih neuronskih mreža. U radu je prikazan dinamički model robota s dva rotacijska stupnja slobode gibanja u vertikalnoj i horizontalnoj ravnini, te su implementirani klasični adaptivni regulator i adaptivni regulator uz primjenu neuronskih mreža. Provedena je simulacijska analiza utjecaja parametara Fourierove neuronske mreže na brzinu konvergencije regulacijskog odstupanja kao i analiza utjecaja oblika pobudnih funkcija na brzinu konvergencije težinskih parametara Fourierove neuronske mreže.
Abstract (english)
The topic of this final thesis is Fourier neural networks control of robot manipulators. Dynamic model for robot with two rotational degrees of freedom is presented for both vertical and horizontal planes, also both adaptive control and adaptive control using neural networks regulators are implemented. A simulation analysis of the Fourier neural network parameters influence on the control deviation convergence speed was performed, as well as the analysis on the different type of reference trajectories influence on Fourier neural network weight parameters convergence speed.
Keywords
Keywords (english)
Languagecroatian
URN:NBNurn:nbn:hr:235:589404
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 on2019-11-26 17:41:29