Razvoj algoritma upravljanja za hvataljku s gradiometrom

undergraduate thesis

• Title (english): Control algorithm design for a gripper with gradiometer
• Author: Stela Periš
• Mentor: Stjepan Bogdan (mentor)
• Committee member: Stjepan Bogdan (član povjerenstva)
• Committee member: Goran Vasiljević (član povjerenstva)
• Committee member: Frano Petric (član povjerenstva)
• Granter: University of Zagreb; Faculty of Electrical Engineering and Computing; Zagreb
• Defense date and country: 2023-07-04, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Computing

Abstract

U ovom radu opisan je razvoj algoritma za upravljanje hvataljkom. Sustav se sastoji od gradiometra koji šalje podatke na mikroupravljač Teensy 4.1. Na njemu se
podaci obraduju i koriste dalje za određivanje ponašanja motora koji otvara i zatvara hvataljku. Informacije se sa gradiometra na mikroupravljač šalju putem SPI sabirnice,
a istovremeno Teensy i motor Dynamixel MX-64 komuniciraju preko RS485 protokola. Dan je opis svake komponente sustava. Za implementaciju algoritma korišteno
je Eclipse razvojno okruženje sa Sloeber pluginom. Dynamixel2Arduino biblioteka
korištena je za ostvarenje komunikacije sa motorom, a algoritam upravljanja formiran je kao automat sa četiri stanja. Napravljeno je testiranje svih prijelaza automata
simulacijom ulaznih vrijednosti.

Abstract (english)

This paper describes the development of a gripper control algorithm. The system
consists of a gradiometer that sends data to the Teensy 4.1 microcontroller. On it, the
data is processed and further used to determine the behavior of the motor that opens
and closes the gripper. Information is sent from the gradiometer to the microcontroller
via the SPI bus, and at the same time Teensy and the Dynamixel MX-64 servo motor
communicate via the RS485 protocol. A description of each system component is
given. The Eclipse development environment with the Sloeber plugin was used to
implement the algorithm. The Dynamixel2Arduino library was used to communicate
with the motor, and the control algorithm was formed as a four-state automaton. All
automaton transitions are tested by simulating input values.

• Keywords: hvataljka; gradiometar; Teensy 4.1; Dynamixel MX-64; RS485; Arduino; algoritam upravljanja; Dynamixel2Arduino biblioteka
• Keywords (english): gripper; gradiometer; Teensy 4.1; Dynamixel MX-64; RS485; Arduino; control algorithm; Dynamixel2Arduino library
• Language: croatian
• URN:NBN: urn:nbn:hr:168:404121
• 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: 2023-10-11 10:06:14