Implementacija samoučećeg neizrazitog algoritma upravljanja silom dodira za troosni kartezijski robot

master's thesis

• Title (english): Implementation of Self-learning Fuzzy Force Control Algorithm for 3DOF Cartesian Robot
• Author: Domagoj Burčul
• 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

U ovom je radu ostvareno hibridno upravljanje pozicijom i silom Z-osi kartezijskog robota. Izvršene su sklopovske i programske promjene potrebne za implementaciju na robotskom sustavu Schneider Electric MAX R3. Komunikacija robota i senzora je promijenjena i ubrzana. Računski i programski izveden je i implementiran neizraziti samoučeći regulator po referentnom modelu i funkcijama osjetljivosti korišten za upravljanje silom.

Abstract (english)

Study sensitivity-based model references self-learning fuzzy controller. Define software and hardware implementation for force control on Schneider Electric cartesian robot. Compare results with previous results from P controller, fuzzy controller and adaptive reference model based fuzzy controller.

• Keywords: Hibridno upravljanje; sila; kartezijski robot; neizraziti regulator; samoučeći algoritam; referentni model; funkcija osjetljivosti
• Keywords (english): Hybrid control; Force; Cartesian Robot; Fuzzy Controller; Self- learning algorithm; Model reference; Sensitivity function
• Language: croatian
• URN:NBN: urn:nbn:hr:168:904918
• 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 19:28:50