Senzori humanoidnog robota

master's thesis

• Title (english): Sensors of Humanoid Robot
• Author: Marko Kovačić
• Mentor: Ana Sović Kržić (mentor)
• Committee member: Ana Sović Kržić (predsjednik povjerenstva)
• Committee member: Davor Petrinović (član povjerenstva)
• Committee member: Mladen Vučić (član povjerenstva)
• Granter: University of Zagreb; Faculty of Electrical Engineering and Computing; Zagreb
• Defense date and country: 2020-07-13, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Computing
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Electrical Engineering

Abstract

U radu prikazana je primjena senzora i aktuatora koje je moguće koristiti u dizajnu humanoidnih robota. Za svaki senzor i aktuator prikazan je način programiranja koristeći Arduino i Python na Raspberry Pi. Korišteni su: ultrazvučni senzor, fotootpornik, infracrveni, temperaturni i senzor boje. Korišteni aktuatori su: zvučnik, svjetlosne diode i motori. Poseban zahtjev bio je pronalazak odgovarajućeg električnog motora. Najvažnije specifikacije motora su okretni moment i brzina motora. Dizajniran je humanoidni robot koji se sastoji od glave, torza, pokretnih ruku i nepokretnih nogu. Robot je namijenjen slijepim osobama u određivanju boje objekta.

Abstract (english)

This thesis presents the applications of sensors and actuators that are recommended for use in the design of humanoid robots. Each sensor and actuator is programmed using Arduino and Python on a Raspberry Pi. Sensors were the ultrasonic sensor, photoresistor, infrared, temperature and color sensor. Actuators were the buzzer, light emitting diodes and electric motors. A special requirement was to find a suitable electric motor. The most important specifications of the motors are torque and engine speed. A humanoid robot was designed consisting of a head, torso, movable arms and fixed legs. The robot is intended for blind people in determining the color of the object .

• Keywords: naponsko-frekvencijski pretvornik; generator frekvencije; NPN fototranzistor; Darlingtonov spoj tranzistora; ugradbeni sustav senzora; piezoelektrični efekt; okretni moment; elektronički H-most; pulsno-širinska modulacija; zupčanici motora; regulator rada motora; pogon koračnog motora u pola koraka
• Keywords (english): voltage-frequency converter; frequency generator; NPN phototransistor; Darlington transistor junction; embedded sensor system; piezoelectric effect; torque; electronic H-bridge; pulse-width modulation; gears of the engine; motor controller; half-step stepper motor drive
• Language: croatian
• URN:NBN: urn:nbn:hr:168:500932
• 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: 2023-01-13 09:13:54