Praćenje putanje manipulatorom robusno na singularitete

undergraduate thesis

• Title (english): Singularity-robust manipulator path following
• Author: Marko Guberina
• Mentor: Ivan Petrović (mentor)
• Committee member: Ivan Petrović (predsjednik povjerenstva)
• Committee member: Filip Marić (član povjerenstva)
• Committee member: Antea Hadviger (član povjerenstva)
• Granter: University of Zagreb; Faculty of Electrical Engineering and Computing; Zagreb
• Defense date and country: 2020-07-14, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Computing

Abstract

Robotski manipulatori često moraju precizno pratiti zadanu putanju. Izvedivost
tog zadatka leži u sposobnosti manipulatora da se pomakne u zadanom smjeru. U
nekim konfiguracijama, manipulatori gube sposobnost da se pomaknu u određenim
smjerovima što vodi do kritičnih kvarova i štete. U ovom radu razvijen je kinematički
kontroler robustan na singularitete. Robusnost je ostvarena korištenjem rezultata iz
Riemannianove geometrije. Funkcionalnost razvijenog kontrolera demonstrirana je
pomoću račcunalne simulacije u programu Webots.

Abstract (english)

Robotic manipulators often need to precisely follow a given trajectory. Their ability to do so relies upon their ability to move in a given direction. In certain configurations, called singularities, manipulators lose their ability to move in certain directions
which leads to critical failures and damage. In this thesis, a kinematic controller robust
to singularities is developed. The robustness is achieved by leveraging results from
Riemannian geometry. The developed controller’s functionality is demonstrated via
computer simulation in Webots.

• Keywords: robotski manipulator; robustnost na singularitete; manipulabilnost; Riemannianova geometrija; planiranje putanje; inverzna kinematika
• Keywords (english): robotic manipulator; singularity avoidance; manipulability; Riemannian geometry; trajectory planning; inverse kinematics
• Language: english
• URN:NBN: urn:nbn:hr:168:368254
• Study programme: Title: Computing; Study programme type: university; Study level: undergraduate; Academic / professional title: sveučilišni/a prvostupnik/ prvostupnica (baccalaureus/baccalaurea) inženjer/inženjerka računarstva (sveučilišni/a prvostupnik/ prvostupnica (baccalaureus/baccalaurea) inženjer/inženjerka računarstva)
• Type of resource: Text
• File origin: Born digital
• Access conditions: Closed access
• Created on: 2023-01-13 15:01:43