Slijedna konfiguracija sustava upravljanja mobilnim robotom

scientific master's theses

• Title (english): Master-slave configuration mobile robot control
• Author: Ranko Simić
• Mentor: Nedjeljko Perić (mentor)
• Committee member: Ivan Petrović (predsjednik povjerenstva)
• Committee member: Nedjeljko Perić (član povjerenstva)
• Committee member: Željko Hocenski (član povjerenstva)
• Granter: University of Zagreb; Faculty of Electrical Engineering and Computing; (Department of Control and Computer Engineering); Zagreb
• Defense date and country: 2004, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Electrical Engineering; Automation and Robotics
• Universal decimal classification (UDC): 621.3 - Electrical engineering

Abstract

U posljednjih desetak godina Internet je postao vodeća tehnologija razvoja s velikim utjecajem na društvo u cjelini. U području sustava daljinskog upravljanja mobilnim robotima, Internet osigurava dvosmjerni komunikacijski kanal koji pokriva cijeli svijet, komunikacijske protokole prema objektu upravljanja i programske tehnologije za izradu sustava upravljanja. Analizirane su sklopovske konfiguracije i programske arhitekture postojećih sustava teleupravljanja i zaključak je da karakteristike postojećih sustava ovise o izabranom podskupu programskih alata. HTML-CGI konfiguracije imaju jednostavne preduvjete na upravljačko računalo operatera, ali takvi sustavi imaju problem brzine, problem održavanja logičke veze kroz slijed komandi operatera i problem kontinuiranog osvježavanja varijabli stanja na sučelju operatera. Java je dizajnirana za rad na različitim uređajima i ima potpun set API klasa za rad na TCP/IP računalskim mrežama. Upotrebom Jave ne postoje problemi navedeni kod HTML-CGI sustava teleupravljanja. Koristeći prednosti internet tehnologija kao što su HTML, http, JDBC, VRML, ASP te programski jezik Javu, u ovom radu je opisano vlastito izrađeno sučelje upravljanja mobilnim robotom s funkcionalnosti obuhvata upravljačkih naredbi i formatiranje podataka razmjene prema modulu zaduženom za komunikaciju s robotom na serverskoj strani. Rezultati upravljanja provjereni su na simulaciji koja je sastavni dio web stranice upravljanja i pokazuju da robot vjerno slijedi ulazne podatke što je cilj upravljanja.

Abstract (english)

In the last ten years Internet becomes leading technology of developments with the strong influence on the society entirely. In the area of remote control mobile robots systems, Internet ensures the two-way communication canal which covers the whole world, communication protocols towards the control object and information technology for the software support of control systems. This thesis analyze hardware configurations and software architecture of existing web based telecontrol systems and conclusion is that characteristics of existing systems depend on the chosen subset of software tools, called framework. HTML-CGI configurations has simple preconditions on the operator control computer, but such systems have the speed problem, maintenance problem of logical connection through the operator sequence commands i.e. session management and problem of continuous refreshing state variable at the operater interface. Java has been designed for running on different hardware configurations and have the complete set API class for TCP/IP networks. In Java based web telecontrol system, problems quoted with HTML-CGI systems does nor exist. Using advantages for Internet technology such as the HTML, HTTP, JDBC, VRML, ASP and programming language Java, in this thesis has been described the own made control mobile robot interface with the scope functionality of control commands and formatting data exchanges towards the module indebted for the communication with the robot on server side. Control results have been checked on the simulation which is component of the control web page and show that the robot exactly follows input data what is the aim of control.

• Keywords: daljinsko upravljanje; mobilni robot; Internet; internet tehnologije; Java; VRML.
• Keywords (english): remote control; mobile robot; Internet; internet technologies; Java; VRML.
• Language: croatian
• URN:NBN: urn:nbn:hr:168:441292
• Study programme: Title: Postgraduate master programme in electrical engineering; Study programme type: university; Study level: postgraduate; Academic / professional title: Magistar znanosti elektrotehnike (Magistar znanosti elektrotehnike)
• Catalog URL: https://lib.fer.hr:8443/cgi-bin/koha/catalogue/detail.pl?biblionumber=29263
• Type of resource: Text
• Extent: II, 100 str. ; 30 cm
• File origin: Born digital
• Access conditions: Closed access
• Created on: 2019-10-22 12:53:00