Estimacija sile vrha alata manipulatora pričvršćenog na bespilotnu letjelicu

master's thesis

• Title (english): End effector force estimation for aerial robots
• Author: Krešimir Turković
• Mentor: Matko Orsag (mentor)
• Committee member: Matko Orsag (predsjednik povjerenstva)
• Committee member: Zdenko Kovačić (član povjerenstva)
• Committee member: Stjepan Bogdan (član povjerenstva)
• Granter: University of Zagreb; Faculty of Electrical Engineering and Computing; Zagreb
• Defense date and country: 2019-07-11, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Electrical Engineering

Abstract

U ovom radu prikazana je i pobliže objašnjena izrada sustava za estimaciju sile robotskog manipulatora pričvršćenog na bespilotnu letjelicu. Za estimaciju sile pretpostavlja se veza između sile koja djeluje na vrhu alata manipulatora te promjene momenta u zglobovima manipulatora u odnosu na neopterećeni manipulator. Ova veza je predstavljena Newton-Eulerovim dinamičkim modelom i Jacobijevom matricom manipulatora. Newton-Eulerov model je također prikladan jer u sebi ima ugrađene formule za linijsku i kutnu brzinu i ubrzanje baze, koje prestaju biti konstantne kada se manipulator pričvrsti na letjelicu. Također, pobliže su objašnjeni problemi koji nastaju korištenjem ove metode. Estimacija je ispitana i provjerena na nekoliko eksperimenata stacionarnog manipulatora te manipulatora pričvršćenog na letjelicu. Estimacija je napisana u C++, komunikacija između estimacije i simulacije provodi se preko robotskog operacijskog sustava, a simulacija se provodi u Gazebo simulacijskom okruženju.

Abstract (english)

This paper presents a more detailed description of the end effector force estimation of a robotic manipulator attached to an unmanned aerial vehicle. For the force estimation it is assumed that there is a link between the force acting on the end effector and the change of the torques in the joints of the manipulator in relation to the unloaded manipulator. This link was presented with Newton-Euler’s dynamic model and the Jacobian matrix of the manipulator. The Newton-Euler’s model is also convenient because it has embedded formulas for linear and angular velocity and acceleration of the manipulator’s base, which ceases to be constant when the manipulator is attached to an aerial vehicle. Also, the problems which arise when using this method are explained more closely. The force estimation was tested and validated on several experiments of a stationary manipulator and a manipulator mounted on the aerial vehicle. Estimation is written in C++, communication between estimation and simulation uses robotic operating system for message exchange, and the simulation is performed in the Gazebo simulation environment.

• Keywords: estimacija sile; Newton-Euler dinamički model; Jacobijeva matrica; manipulator; letjelica; robot; kinematika; Gazebo; ROS; C++
• Keywords (english): force estimation; Newton-Euler dynamic model; Jacobian matrix; manipulator; aerial; robot; kinematics; Gazebo; ROS; C++
• Language: croatian
• URN:NBN: urn:nbn:hr:168:944230
• 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: 2020-01-07 22:46:08