Primjena modelskog prediktivnog upravljanja u optimizaciji gibanja robota

master's thesis

• Title (english): Application of Model Predictive Control in Optimisation of Robot Motion
• Author: Marko Šarlija
• Mentor: Zdenko Kovačić (mentor)
• Committee member: Zdenko Kovačić (predsjednik povjerenstva)
• Committee member: Stjepan Bogdan (član povjerenstva)
• Committee member: Matko Orsag (član povjerenstva)
• Granter: University of Zagreb; Faculty of Electrical Engineering and Computing; Zagreb
• Defense date and country: 2016-07-13, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Electrical Engineering

Abstract

Kiwi je naziv za manipulatora tipa SCARA, konfiguracije RRTR. Kiwi-jem se upravlja iz Matlab-a, odnosno Simulink-a putem CAN-a, preko Real-Time Linux ciljnog racunala. Modelsko prediktivno upravljanje (MPC) se zasad uglavnom koristi za upravljanje sporim i relativno linearnim sustavima. U ovom radu MPC je upotrebljen za upravljanje pozicijom prvog zgloba Kiwi-ja. Izrađžen je nelinearan dinamicki model prvog zgloba koji dobro opisuje njegovo vladanje. Razvijen je optimizacijski algoritam koji omogućuje implementaciju nelinearnog MPC-a u stvarnom vremenu. Dana je usporedba s uobičajenim metodama upravljanja te smjernice za daljnji razvoj i poboljšanja.

Abstract (english)

Kiwi is a SCARA robot, set up as an RRTR configuration. Kiwi is controlled via Matlab, Simulink, using CAN and a Real-Time Linux target computer. Model predictive control (MPC) is nowadays mainly used in the control of linear systems with slow dynamics. In this paper, the MPC is used to control the position of the Kiwi’s first joint. A nonlinear dynamical model was made, describing the system dynamics well. An optimization algorithm was developed to implement the nonlinear MPC in real-time. Comparison with commonly used control methods was given, as well as the guidelines for further development and improvement.

• Keywords: Upravljanje robotima; dinamika robota; nelinearni MPC; optimizacija
• Keywords (english): Robot control; robot dynamics; nonlinear MPC; optimization
• Language: croatian
• URN:NBN: urn:nbn:hr:168:208474
• Study programme: Title: Electrical Engineering and Information Technology; Study programme type: university; Study level: graduate; Academic / professional title: magistar/magistra inženjer/inženjerka elektrotehnike i informacijske tehnologije (magistar/magistra inženjer/inženjerka elektrotehnike i informacijske tehnologije)
• Type of resource: Text
• File origin: Born digital
• Access conditions: Closed access
• Created on: 2018-02-06 12:13:40