Upravljanje rukama humanoidnog robota TIOSS

master's thesis

• Title (english): Arm control of the TIOSS humanoid robot
• Author: Ivan Brčić
• Mentor: Ana Sović Kržić (mentor)
• Committee member: Ana Sović Kržić (predsjednik povjerenstva)
• Committee member: Damir Seršić (član povjerenstva)
• Committee member: Juraj Petrović (član povjerenstva)
• Granter: University of Zagreb; Faculty of Electrical Engineering and Computing; Zagreb
• Defense date and country: 2024-07-11, Croatia

Abstract

UPRAVLJANJE RUKAMA HUMANOIDNOG ROBOTA TIOSS
Ovaj rad dio je obnove i modernizacije robota TIOSS, prvog humanoidnog robota u Hrvatskoj koji je nastao još šezdesetih godina 20. stoljeća. Glavni cilj rada bio je osposobljavanje motora ruku i hvataljki koje funkcioniraju na principu solenoida. Dizajniran je i napravljen upravljački sklop sastavljen od PCB pločice, istosmjernog pretvarača napona i Raspberry Pi računala. Centar upravljačkog sklopa je dizajnirana PCB pločica kojom se koristeći N-kanalne MOSFET-e kao sklopke povezuje motore ruku, hvataljke, ali i glavu robota s Raspberry Pi računalom. Koristeći programski jezik Python napravljena je i programska podrška za upravljački sklop koja je prilagođena za inačicu 5 Raspberry Pi računala. Osim upravljanja hvataljkama te motorima ruku i glave, koristeći potenciometre kao senzore položaja omogućeno je praćenje položaja navedenih dijelova tijela robota u stvarnom vremenu.

Abstract (english)

CONTROL OF THE HANDS OF THE HUMANOID ROBOT TIOSS
This work is part of the renovation and modernization of the TIOSS robot, the first humanoid robot in Croatia created in the 1960s. The main goal of the work was to enable the functioning of the arm motors and grippers, which operate on the principle of solenoids. A control circuit consisting of a PCB board, a DC voltage converter, and a Raspberry Pi computer was designed and built. The central part of the control circuit is the designed PCB board, which uses N-channel MOSFETs as switches to connect the arm motors, grippers, and the robot's head to the Raspberry Pi computer. Using the Python programming language, software for the control circuit was also created and adapted for version 5 of the Raspberry Pi computer. In addition to controlling the grippers and the motors of the arms and head, potentiometers are used as position sensors to enable real-time tracking of the positions of the mentioned body parts of the robot.

• Keywords: robot TIOSS; upravljački sklop; solenoid; motori; ruke; hvataljke; glava; MOSFET; Raspberry Pi; senzor položaja; potenciometar; PCB; Python; samokalibracija
• Keywords (english): TIOSS robot; control circuit; solenoid; motors; arms; grippers; head; MOSFET; Raspberry Pi; position sensor; potentiometer; PCB; Python; self-calibration
• Language: croatian
• URN:NBN: urn:nbn:hr:168:280094
• 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: 2024-10-12 20:10:59