Realizacija sustava upravljanja silom dodira kartezijskog robota Schneider Electric

master's thesis

• Title (english): Implementation of Contact Force Control system of Cartesian Robot Schneider Electric
• Author: Vedran Brkić
• Mentor: Zdenko Kovačić (mentor)
• Committee member: Zdenko Kovačić (predsjednik povjerenstva)
• Committee member: Stjepan Bogdan (član povjerenstva)
• Committee member: Matko Orsag (član povjerenstva)
• Granter: University of Zagreb; Faculty of Electrical Engineering and Computing; Zagreb
• Defense date and country: 2016-07-13, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Electrical Engineering

Abstract

Kroz rad je zatvoren regulacijski krug sile dodira kartezijskog robota Schneider Electric po okomitoj osi. Omogućeno je hibridno upravljanje pozicijom i silom uz upravljanje po poziciji kada gibanje robota nije ograničeno i upravljanje po sili kada je gibanje robota ograničeno. Implementirana adaptivna upravljačka struktura s referentnim modelom uz korištenje neizrazitog regulatora sile i neizrazitog adaptacijskog algoritma kompenzira utjecaj parametara robota i mehaničkih svojstava objekata s kojima robot dolazi u kontakt.

Abstract (english)

Force control loop was closed by the vertical axis of cartesian robot Schneider Electric. Hybrid force/position control is implemented with control by position in free space and control by force in constrained space. Model reference adaptive control structure using fuzzy force controller and fuzzy adaptation algorithm compensates the change in robot parameters and mechanical characteristics of objects in contact with the robot.

• Keywords: Upravljanje silom; hibridno upravljanje; adaptivno upravljanje; neizraziti regulator; senzor sile; kartezijski robot
• Keywords (english): Force Control; Hybrid Control; Adaptive Control; Fuzzy Controller; Force Sensor; Cartesian Robot
• Language: croatian
• URN:NBN: urn:nbn:hr:168:731771
• 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: 2018-02-06 08:03:08