Planiranje trajektorije manipulatora na letećoj bazi s neholonomskim ograničenjima

undergraduate thesis

• Title (english): Trajectory planning for an aerial manipulator with nonholonomic constraints
• Author: Filip Bradarić
• Mentor: Matko Orsag (mentor)
• Committee member: Matko Orsag (predsjednik povjerenstva)
• Committee member: Antun Ivanović (član povjerenstva)
• Committee member: Marko Car (član povjerenstva)
• Granter: University of Zagreb; Faculty of Electrical Engineering and Computing; Zagreb
• Defense date and country: 2018-07-13, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Electrical Engineering

Abstract

Pri implementaciji sustava planiranja trajektorije za robotski manipulator s više stupnjeva sloboda prčvršćen na bespilotnu letjelicu potrebno je voditi računa o raznim ograničenjima. Moguća su ograničenja i sudari sustava s okolinom ili sa samim sobom. Cilj planiranja trajektorije je ostvariti gibanje vrha alata manipulatora za inspekciju biljaka u stakleniku bez da ih se pri tome ošteti. Prije implementacije na realnom sustavu potrebno je provesti odgovarajuću simulaciju. Simulacijom je utvrđena valjanost projektiranih algoritama i regulatora. Projektirane regulatore i algoritme planiranja
trajektorije nakon simulacije moguće je primijeniti na realnom sustavu te tako
ostvariti automatiziranu i za ljude uvelike olakšanu inspekciju biljaka.

Abstract (english)

Implementing a trajectory planner for a multi-degree of freedom aerial manipulator
is a challenging problem. There are several constraints, such as environmental and self
collision, which have to be taken into account. The main purpose of the trajectory
planner developed within this thesis is greenhouse plant inspection. The manipulator’s
end effector has to inspect the plants without damaging them. Before application on
the real system, it is necessary to test the system’s behavior in realistic simulation
environment. In this thesis, simulation was used to validate the designed algorithms
and controllers. These algorithms are applied to the real system, reducing human
effort in plant inspection.

• Keywords: trajektorija; manipulator; ograničenja
• Keywords (english): trajectory; manipulator; constraints
• Language: croatian
• URN:NBN: urn:nbn:hr:168:879107
• 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: 2019-03-13 19:16:22