Realizacija sustava za upravljanje četveronožnim robotom zasnovanog na mikrokontroleru STM32F407VG

master's thesis

• Title (english): Implementation of Quadruped Robot Control System Based on Microcontroller STM32F407VG
• Author: Mislav Čovran
• Mentor: Zdenko Kovačić (mentor)
• Committee member: Zdenko Kovačić (predsjednik povjerenstva)
• Committee member: Stjepan Bogdan (član povjerenstva)
• Committee member: Ivana Palunko (član povjerenstva)
• Granter: University of Zagreb; Faculty of Electrical Engineering and Computing; Zagreb
• Defense date and country: 2014-07-16, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Electrical Engineering

Abstract

Dynarobin je četveronožni hodajući robot s Dynamixel aktuatorima. Za njega je projektirana tiskana pločica s mikrokontrolerom STM32F405 i napajanjem za BeagleBone računalo. Mikrokontroler koristi CMSIS-RTOS RTX operacijski sustav, komunicira s Dynamixelima (s njih 5 istovremeno), može njima upravljati po brzini, računa direktnu i inverznu kinematiku nogu (s brzinama), pokreće noge u skladu sa zadanim trajektorijama oblika kardinalnih splineova, uzorkuje i filtrira stanje analognih senzora otporničkog tipa te prima informacije s AHRS-a. Sve to izvodi dok komunicira s BeagleBoneom preko virtualnog COM porta na full-speed USB vezi.

Abstract (english)

Dynarobin is a quadrupedal walking robot with Dynamixel actuators. For it, a control board containing an STM32F405 microcontroller and a power supply for a BeagleBone computer was engineered. The microcontroller makes use of CMSIS-RTOS RTX operating system, communicates with Dynamixels (5 of them at the same time), can utilize speed control, calculates leg forward and inverse kinematics (with velocities), moves legs according to given cardinal spline trajectories, samples and filters resistive analog force sensors and receives information from an AHRS. All that is being executed while communicating with the BeagleBone via a virtual COM port over full-speed USB connection.

• Keywords: čvrsto stvarno vrijeme; RTOS; Dynamixel; RS-485; kinematika; Hermiteov spline; kardinalan splajn; trajektorije; senzor sile; USB; virtualan COM port
• Keywords (english): hard real-time; RTOS; Dynamixel; RS-485; kinematics; Hermite spline; cardinal spline; trajectories; force sensor; USB; virtual COM port
• Language: croatian
• URN:NBN: urn:nbn:hr:168:376468
• 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 08:18:49