Upravljanje admitancijom zračnog manipulatora za potrebe fizičke interakcije s okolinom

master's thesis

• Title (english): Admittance control of an aerial manipulator for interaction with the environment
• Author: Adam Vuić
• Mentor: Stjepan Bogdan (mentor)
• Committee member: Stjepan Bogdan (član povjerenstva)
• Committee member: Tamara Petrović (član povjerenstva)
• Committee member: Frano Petric (član povjerenstva)
• Granter: University of Zagreb; Faculty of Electrical Engineering and Computing; Zagreb
• Defense date and country: 2023-07-06, Croatia

Abstract

Ovaj diplomski rad fokusira se na razvoj kontrolera za bespilotnu letjelicu i praktičnu izradu kvadrokoptera. Rad istražuje postojeće tehnike upravljanja i predlaže regulator admitancije koji integrira kontrolu pomoću očitane sile. U svrhu testiranja implementiranih kontrolnih algoritama izrađen je model kvadrokoptera, a testovi leta potvrđuju učinkovitost kontrolera u postizanju precizne kontrole i stabilnosti. Rezultati pridonose napretku kontrole drona i pružaju uvid istraživačima i entuzijastima u robotici.

Abstract (english)

This thesis focuses on the development of a UAV controller and the practical construction of a quadcopter. The paper investigates existing control techniques and proposes an admittance regulator that integrates control using sensed force. In order to test the implemented control algorithms, a model of a quadcopter was made, and flight tests confirm the effectiveness of the controller in achieving precise control and stability. The results contribute to the advancement of drone control and provide insight to robotics researchers and enthusiasts.

• Keywords: admitancija; kvodrokopter; regulator admitancije; senzor sile/momenta; gazebo; ros
• Keywords (english): admittance; quadcopter; admittance controler; force/torque sensor; gazebo; ros
• Language: croatian
• URN:NBN: urn:nbn:hr:168:953606
• 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 10:59:02