Razvoj upravljačkog programa za sferni robot

undergraduate thesis

• Title (english): Development of control modules for a spherical robot
• Author: Marija Piliškić
• Mentor: Stjepan Bogdan (mentor)
• Committee member: Stjepan Bogdan (predsjednik povjerenstva)
• Committee member: Marko Križmančić (član povjerenstva)
• Committee member: Antonella Barišić (član povjerenstva)
• Granter: University of Zagreb; Faculty of Electrical Engineering and Computing; Zagreb
• Defense date and country: 2021-07-02, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Computing

Abstract

U ovom radu opisuje se razvoj upravljačkog programa za sferni robot razvijen na TU Delft. Prije razvoja samog programa robot je opisan matematičkim modelom te su u MATLAB-u prikazani odzivi željenih veličina po kojima se upravlja. Za upravljanje robotom koriste se regulatori čiji su parametri prvo određeni pomoću matematičkog modela, a koji su zatim prilagođeni kako bi odgovarali stvarnom sustavu. Robotom se upravlja koristeći joystick, gdje jedna palica joystick-a određuje ubrzanje, a druga usmjerenje. Razvijenim algoritmom uspješno se upravlja robotom te su dane preporuke za budući rad s robotom.

Abstract (english)

This paper describes the development of control modules for a spherical robot developed at TU Delft. First, the robot was modeled mathematically and then implemented in MATLAB where we visualized the response of controlled values to reference signals. To control the robot we use PID controllers, with parameters determined by adjusting the model parameters obtained in MATLAB. The robot is controlled using a joystick, with the left stick representing acceleration and the right stick representing direction. Using the developed algorithm we were able to successfully control the robot and some recommendations for future improvements of the robot were made.

• Keywords: sferni robot; upravljanje; program; model
• Keywords (english): spherical robot; control module; model
• Language: croatian
• URN:NBN: urn:nbn:hr:168:861130
• 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: 2023-01-14 21:25:59