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undergraduate thesis
Simulacija upravljanja SCARA robotom
Zagreb: University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, 2023. urn:nbn:hr:235:765279
Jelaš, Mario
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

Jelaš, M. (2023). Simulacija upravljanja SCARA robotom (Undergraduate thesis). Zagreb: University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture. Retrieved from https://urn.nsk.hr/urn:nbn:hr:235:765279

Jelaš, Mario. "Simulacija upravljanja SCARA robotom." Undergraduate thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, 2023. https://urn.nsk.hr/urn:nbn:hr:235:765279

Jelaš, Mario. "Simulacija upravljanja SCARA robotom." Undergraduate thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, 2023. https://urn.nsk.hr/urn:nbn:hr:235:765279

Jelaš, M. (2023). 'Simulacija upravljanja SCARA robotom', Undergraduate thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, accessed 12 May 2024, https://urn.nsk.hr/urn:nbn:hr:235:765279

Jelaš M. Simulacija upravljanja SCARA robotom [Undergraduate thesis]. Zagreb: University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture; 2023 [cited 2024 May 12] Available at: https://urn.nsk.hr/urn:nbn:hr:235:765279

M. Jelaš, "Simulacija upravljanja SCARA robotom", Undergraduate thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, Zagreb, 2023. Available at: https://urn.nsk.hr/urn:nbn:hr:235:765279

Metadata
TitleSimulacija upravljanja SCARA robotom
Title (english)Simulation of SCARA robot control
AuthorMario Jelaš
MentorAndrej Jokić (mentor)
GranterUniversity of Zagreb
Faculty of Mechanical Engineering and Naval Architecture
Zagreb
Defense date and country2023-03-02, Croatia
Scientific / art field,
discipline and subdiscipline		TECHNICAL SCIENCES
Mechanical Engineering
Abstract
U ovom završnom radu napravljen je simulacijski model SCARA robota s četiri stupnja slobode gibanja u programskom paketu MATLAB/Simulink. Prvo je riješen direktni kinematički problem koristeći matrice homogenih transformacija, a zatim je izveden dinamički model. Simulacijski model je potom nadopunjen s povratnim spregama i regulatorima za različite upravljačke pristupe. Na kraju su prikazani odzivi robota u zatvorenom upravljačkom krugu i dana je usporedba promatranih pristupa upravljanja.
Abstract (english)
In this undergraduate thesis, a simulation model of the SCARA robot with four degrees of freedom of motion was created in the MATLAB/Simulink software package. First, the direct kinematic problem was solved using matrices of homogeneous transformations, and then the dynamic model was derived. The simulation model is then supplemented with feedback loops and controllers for different control approaches. At the end, the responses of the robot in a closed control loop are presented and a comparison of the observed control approaches is given.
Keywords
Keywords (english)
Languagecroatian
URN:NBNurn:nbn:hr:235:765279
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 on2023-02-28 10:42:43