Upravljanje pogonom mobilnog mehatroničkog sustava sa svesmjernim kotačima

undergraduate thesis

• Title (english): Drive control of a mobile mechatronic system with omnidirectional wheels
• Author: Luka Pržić
• Mentor: Mato Baotić (mentor)
• Committee member: Mato Baotić (predsjednik povjerenstva)
• Committee member: Branimir Novoselnik (član povjerenstva)
• Committee member: Vice Živković (član povjerenstva)
• Granter: University of Zagreb; Faculty of Electrical Engineering and Computing; Zagreb
• Defense date and country: 2019-07-12, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Electrical Engineering

Abstract

Završni rad opisuje razvoj mehatroničkog mobilnog sustava pogonjenom svesmjernim kotačima. Matematički model izrađen je u Matlab programskom okruženju u okviru simulacijskog paketa Simulink. Dobiveni model je potom realiziran u LabVIEW okruženju za izradu virtualnih instrumenta, kako bi se omogućila njegova primjena na ugradbenom uređaju MyRio I-1900. Naposljetku, u programskom okruženju Autodesk Inventor izrađen je 3Dmodel same platforme.

Abstract (english)

The thesis describes the development of a mechatronic mobile system with an omnidirectional drive. The mathematical model was developed in the Matlab programming environment within the Simulink simulation packet. The obtained model was also implemented in the LabVIEW virtual instrument development environment, to enable its implementation in the MyRio I-1900 embedded system. Finally, the 3D model of the platform itself was developed in the Autodesk Inventor program environment.

• Keywords: kinematika; Kalmanov filtar; svesmjerni kotači; inercijska jedinica za mjerenje; LabVIEW; Simulik; MyRio; upravljanje pogonom
• Keywords (english): kinematics; Kalman filter; omnidirectional wheels; inertial measurement unit; LabVIEW; Simulink; MyRio; drive control
• Language: croatian
• URN:NBN: urn:nbn:hr:168:973722
• Study programme: Title: Electrical Engineering and Information Technology; Study programme type: university; Study level: undergraduate; Academic / professional title: sveučilišni/a prvostupnik/ prvostupnica (baccalaureus/baccalaurea) inženjer/inženjerka elektrotehnike i informacijske tehnologije (sveučilišni/a prvostupnik/ prvostupnica (baccalaureus/baccalaurea) inženjer/inženjerka elektrotehnike i informacijske tehnologije)
• Type of resource: Text
• File origin: Born digital
• Access conditions: Closed access
• Created on: 2020-01-07 21:37:12