Modernizacija kretanja robota TIOSS

master's thesis

• Title (english): Modernization of TIOSS Robot Movement
• Author: Marko Tomić
• Mentor: Ana Sović Kržić (mentor)
• Committee member: Ana Sović Kržić (predsjednik povjerenstva)
• Committee member: Damir Seršić (član povjerenstva)
• Committee member: Davor Petrinović (član povjerenstva)
• Granter: University of Zagreb; Faculty of Electrical Engineering and Computing; Zagreb
• Defense date and country: 2023-07-06, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Computing

Abstract

Za vrijeme rada proučen je robot TIOSS. Proučeno je kada i kako je nastao te koje je funkcionalnosti imao. Od originalnih funkcionalnosti robotu je uspješno vraćena mogućnost kretanja pomoću motora u nogama. Svi motori su pregledani i popravljeni. Za upravljanje robotom dizajnirana je glavna upravljačka ploča na koju su stavljeni glavni upravljački elementi (releji, MOSFET tranzistori i Raspberry Pi 4 Model B) koji pokreću motore nogu i motor glave. U programskom jeziku Python napisan je osnovni program za upravljanje robotom. Raspberry Pi i upravljajuće računalo međusobno se povezuju bežično preko VNC servera i WiFi mreže što omogućuje upravljanje robotom na daljinu.

Abstract (english)

Robot TIOSS has been studied for this thesis. It has been researched how and when it was built and what the functionalities were. The robot was successfully given its original mobility function by motors in its legs. All motors have been inspected and refurbished. In order to control the robot, a main control board was designed where the main control elements were placed (relays, MOSFET transistors and Raspberry Pi 4 model B) which set the legs and head motors in motion. The driving program was written using the Python programming language. Raspberry Pi and the control computer connect wirelessly with each other via a VNC server and WiFi network, which enables remote control over the robot.

• Keywords: TIOSS; relej; dioda; tranzistor; MOSFET; motor; PWM; Raspberry Pi 4; iskrenje pri prikapčanju; H most; VNC
• Keywords (english): TIOSS; relay; diode; transistor; MOSFET; motor; PWM; Raspberry Pi 4 Model B; sparks during switching; H bridge; VNC
• Language: croatian
• URN:NBN: urn:nbn:hr:168:432772
• Study programme: Title: Information and Communication Technology; Study programme type: university; Study level: graduate; Academic / professional title: magistar/magistra inženjer/inženjerka informacijske i komunikacijske tehnologije (magistar/magistra inženjer/inženjerka informacijske i komunikacijske tehnologije)
• Type of resource: Text
• File origin: Born digital
• Access conditions: Closed access
• Created on: 2023-10-11 10:48:25