Upravljanje robotskim rukama modela humanoidnog robota ljudske visine

master's thesis

• Title (english): Controlling of Robotic Arms of Real Size Humanoid Robot Model
• Author: Katarina Ivanković
• Mentor: Ana Sović Kržić (mentor)
• Committee member: Ana Sović Kržić (predsjednik povjerenstva)
• Committee member: Juraj Petrović (član povjerenstva)
• Committee member: Tomislav Jagušt (član povjerenstva)
• Granter: University of Zagreb; Faculty of Electrical Engineering and Computing; Zagreb
• Defense date and country: 2023-02-15, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Electrical Engineering

Abstract

Humanodini roboti sustavi su robotskih manipulatora i kontrolera koji izgledom
podsjećaju na ljudsko tijelo. Sastoje se od torza, glave, dvije ruke i dvije noge. U okviru
ovog diplomskog rada istraženi su razvoj i upravljanje dvaju modela robotskih ruku, jedna s
ugrađenim senzorima i druga s ugrađenim aktuatorima. Uz pomoć ruke sa senzorima
moguće je zadavati položaje koje druga ruka sa aktuatorima, u ovom slučaju servomotorima,
mora oponašati. Istražene su mogućnosti upravljanja robotskim rukama korištenjem
Arduinom UNO-a, Raspberry Pi-a i VIDI X-a u ulozi kontrolera, a testirani su i različiti
načini udaljenog upravljanja te je napravljena i aplikacija u istu svrhu.

Abstract (english)

Humanoid robots are systems of robotic manipulators and controllers which resemble
the human body. They are composed of torso, head, two arms and two legs. Development
and control of two robotic arm models were researched within this diploma thesis, one with
built-in sensors and other with built-in actuators. With the sensor-arm it is possible to define
positions that the actuator-arm must mimic using its servo motors. Options of controlling
robotic arms using Arduino UNO, Raspberry Pi and VIDI X as controllers have been
explored, various ways of remote control have been tested and an app has been made for the
same purpose.

• Keywords: humanoidni robot; robotska ruka; senzor; servomotor; VIDI-X; Arduino
• Keywords (english): humanoid robot; robotic arm; sensor; servo motor; VIDI-X; Arduino
• Language: croatian
• URN:NBN: urn:nbn:hr:168:927822
• 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: 2023-07-13 10:07:27