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undergraduate thesis
Samo-balansirajuća robotska kolica
Rijeka: University of Rijeka, Faculty of Engineering, 2020. urn:nbn:hr:190:828478
Grenko, Teodor
University of Rijeka
Faculty of Engineering
Department of Automation and Electronics
Section of Electronics, Robotics and Automation

Institutional repository: Repository of the University of Rijeka, Faculty of Engineering

Cite this document

Grenko, T. (2020). Samo-balansirajuća robotska kolica (Undergraduate thesis). Rijeka: University of Rijeka, Faculty of Engineering. Retrieved from https://urn.nsk.hr/urn:nbn:hr:190:828478

Grenko, Teodor. "Samo-balansirajuća robotska kolica." Undergraduate thesis, University of Rijeka, Faculty of Engineering, 2020. https://urn.nsk.hr/urn:nbn:hr:190:828478

Grenko, Teodor. "Samo-balansirajuća robotska kolica." Undergraduate thesis, University of Rijeka, Faculty of Engineering, 2020. https://urn.nsk.hr/urn:nbn:hr:190:828478

Grenko, T. (2020). 'Samo-balansirajuća robotska kolica', Undergraduate thesis, University of Rijeka, Faculty of Engineering, accessed 05 May 2024, https://urn.nsk.hr/urn:nbn:hr:190:828478

Grenko T. Samo-balansirajuća robotska kolica [Undergraduate thesis]. Rijeka: University of Rijeka, Faculty of Engineering; 2020 [cited 2024 May 05] Available at: https://urn.nsk.hr/urn:nbn:hr:190:828478

T. Grenko, "Samo-balansirajuća robotska kolica", Undergraduate thesis, University of Rijeka, Faculty of Engineering, Rijeka, 2020. Available at: https://urn.nsk.hr/urn:nbn:hr:190:828478

Metadata
TitleSamo-balansirajuća robotska kolica
Title (english)Self-balancing robotic car
AuthorTeodor Grenko
MentorIvan Volarić (mentor)
Committee memberViktor Sučić (predsjednik povjerenstva)
Committee memberIvan Volarić (član povjerenstva)
GranterUniversity of Rijeka
Faculty of Engineering
(Department of Automation and Electronics)
(Section of Electronics, Robotics and Automation)
Rijeka
Defense date and country2020-09-16, Croatia
Scientific / art field,
discipline and subdiscipline		TECHNICAL SCIENCES
Electrical Engineering
Abstract
Ovim radom je pokriven proces izrade samobalansirajućeg robota na dva kotača, te svu problematiku na koju se nailazi pri izradi. Pokriveno je od pojma održavanje samo-ravnoteže, pa do odabira i opisa elemenata s kojima se projekt služi. Osim elemenata, opisana je i problematika rješavanja programskog koda za sklop, poput implementiranja PID regulatora i njegovih parametara, te modeliranje 3D sustava pomoću kvaterniona ili Eulerovih kutova, koji su potrebni za određivanje pozicije kolica u prostoru. Nadalje, opisan je proces kojim pretvara podatke sa senzora u korisno gibanje kotača kolica. Pokriveno je i djelovanje H-mosta i na koji način se koristi u projektu.
Abstract (english)
This bachelors thesis covers all problems that occur during the construction and programming of self-balancing robot, which is maintaining its balance on two wheels. This paper contains an explanation of self-balancing, and components necessary to make this project. Programming code is also implemented and explained, considering it is a big part of making this project functional. Furthermore, process of implementing PID controller and adjusting its parameters is explained. For robot to maintain its balance and know its orientation, there must be a 3D model implemented into the program. Mathematical models of quaternions and Euler angles can be implemented to simulate robot’s orientation and position. In addition, H-bridge module is covered in this project, which is used to drive robot’s wheels in both directions.
Keywords
Languagecroatian
URN:NBNurn:nbn:hr:190:828478
Study programmeTitle: Undergraduate University Study of Electrical Engineering
Study programme type: university
Study level: undergraduate
Academic / professional title: sveučilišni/a prvostupnik/prvostupnica (baccalaureus/baccalaurea) inženjer/inženjerka elektrotehnike (sveučilišni/a prvostupnik/prvostupnica (baccalaureus/baccalaurea) inženjer/inženjerka elektrotehnike)
Type of resourceText
File originBorn digital
Access conditionsAccess restricted to students and staff of home institution
Terms of useLicence In copyright icon
Created on2021-09-30 09:22:46