Upravljanje gibanjem svesmjernog mobilnog robota Anda

undergraduate thesis

• Title (english): Motion control of the Anda omnidirectional mobile robot
• Author: Jelena Gregorić
• Mentor: Marija Seder (mentor)
• Committee member: Marija Seder (predsjednik povjerenstva)
• Committee member: Filip Marić (član povjerenstva)
• Committee member: Borna Bićanić (član povjerenstva)
• Granter: University of Zagreb; Faculty of Electrical Engineering and Computing; Zagreb
• Defense date and country: 2019-07-18, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Electrical Engineering

Abstract

Mobilni robot Anda je robot koji može riješiti problem logistike teškog tereta u postrojenjima. Na sebi sadrži četiri švedska kotača koja omogućuju gibanje robota u svim smjerovima. Svaki kotač može se neovisno upravljati regulatorom brzine vrtnje, koja se mjeri enkoderskim senzorima na kotačima. U ovom završnom radu implementiran je algoritam upravljanja brzinom vrtnje kotača. U okruženju robotskog operativnog sustava snimani su odzivi brzine kotača na postavljenju referencu. Na temelju odziva analizirana je prijenosna funkcija zatvorenog kruga bez regulatora te pronađena prijenosna funkcija samog procesa. Ziegler–Nichols metodom pronađeni su parametri PID regulatora i odzivi s novim postavljenim regulatorom analizirani su u Matlab Simulinku. U konačnici, algoritam upravljanja postavljen je na mikrokontroler robota pomoću software-a EasyC V4 for Cortex. Rezultati su praćeni ponovnim snimanjem odziva, te njihovom analizom.

Abstract (english)

The Anda mobile robot is a robot which can solve the problem of heavy load logistics in the facilities. There are four Swedish wheels on it, which enable the robot to move in all directions. Each wheel can be independently controlled by the speed of rotation regulator, where the speed is measured by encoders on the wheels. In this final work a speed control algorithm has been implemented. Within the robotic operating system environment, there are recorded responses of the speed of the wheel on the reference. Based on the response, the closed-loop transfer function without regulator was analyzed and there was found a transfer function of the process. Also, there was found PID controller parameters with the Ziegler-Nichols method and responses with the new regulator were analyzed in Matlab Simulink. Ultimately, control algorithm is set up on a robot microcontroller using the EasyC V4 for Cortex software. The results were followed by re-capturing the response and their analysis.

• Keywords: svesmjerni mobilni robot; upravljanje gibanjem; švedski kotači; ROS; Ziegler-Nichols metoda; PID regulator; prijenosna funkcija; odziv; referentna brzina; EasyC V4 for Cortex
• Keywords (english): omnidirectional mobile robot; motion control; Swedish wheels; ROS; Ziegler-Nichols method; PID controller; transfer function; response; reference speed; EasyC V4 for Cortex
• Language: croatian
• URN:NBN: urn:nbn:hr:168:415274
• Study programme: Title: Electrical Engineering and Information Technology; Study programme type: university; Study level: undergraduate; Academic / professional title: sveučilišni/a prvostupnik/ prvostupnica (baccalaureus/baccalaurea) inženjer/inženjerka elektrotehnike i informacijske tehnologije (sveučilišni/a prvostupnik/ prvostupnica (baccalaureus/baccalaurea) inženjer/inženjerka elektrotehnike i informacijske tehnologije)
• Type of resource: Text
• File origin: Born digital
• Access conditions: Closed access
• Created on: 2020-01-07 18:14:25