Adaptivno neizrazito upravljanje impedancijom industrijskog robota Schunk

master's thesis

• Title (english): Adaptive Fuzzy Impedance Control of Industrial Robot Schunk
• Author: Lovro Ivanov
• 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: 2017-07-17, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Electrical Engineering

Abstract

Upravljanje silom dodira robotskih manipulatora veliki je izazov modernog svijeta industrije. Jedan od pristupa tom problemu je upravljanaje impedancijom. Robot se treba ponašati kao sustav mase, opruge i prigušnice uzimajući u obzir konstante okoline koju pritišće. Izveden je linearni regulator, te neizraziti potpomognut adaptivnim algoritmom kako bi se upravljanje silom omogućilo na različitim podlogama.

Abstract (english)

Force control of industrial manipulators is a huge challenge in modern robotics. Approach that has been used in this work is impedance control. Modelling manipulator as mass, damper, spring system is the basic task. Linear control law has been applied and compared to fuzzy adaptive regulator.

• Keywords: impedancija; upravljanje; sila; adaptacija; robotika; neizrazita logika
• Keywords (english): impedance; control; force; adaptive; robotics; fuzzy logic
• Language: croatian
• URN:NBN: urn:nbn:hr:168:634531
• 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: 2019-03-13 21:01:31