Planiranje gibanja manipulatora pomoću polja brzine

master's thesis

• Title (english): Manipulator motion planning based on Passive Velocity Field Control
• Author: Lea Pavelko
• Mentor: Stjepan Bogdan (mentor)
• Committee member: Stjepan Bogdan (predsjednik povjerenstva)
• Committee member: Zdenko Kovačić (član povjerenstva)
• Committee member: Matko Orsag (član povjerenstva)
• Granter: University of Zagreb; Faculty of Electrical Engineering and Computing; Zagreb
• Defense date and country: 2020-07-16, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Electrical Engineering

Abstract

U radu je promatran robotski manipulator Franka Emika Panda. Implementiran je algoritam upravljanja koji koristi polja brzine za praćenje željene konture. Polje brzine je skup vektora koji su pridruženi svakoj točki prostora. Svaki vektor sastoji se od dvije komponente: komponenta u smjeru krivulje i komponenta u smjeru tangente na krivulju. Za određivanje vektora u smjeru krivulje bilo je potrebno naći najbližu točku krivulje koja je najbliža trenutnoj poziciji manipulatora, za što se koristio k-nn algoritam. Za optimalno upravljanje potrebno je pažljivo odabrati odnos komponenata u rezultantnom vektoru. Eksperimenti su provedeni u virtualnom okruženju te je razmotrena mogućnost implementacije u stvarnom okruženju.

Abstract (english)

This thesis considers a robot manipulator Franka Emika Panda.
The implemented algorithm uses velocity fields for contour tracking. The velocity field is a group of vectors that are defined for every point in space. Every vector has two components: one in the direction of the contour and one in the direction of a tangent to the curve. The k-nn algorithm was used to find the closest point on a curve in order to find the directional component of the velocity vector. The ratio of the two components in the end velocity vector is important for optimal motion control. Experiments were conducted in a simulation environment with the possibility of implementation in a real-world setup.

• Keywords: robotski manipulator; upravljanje gibanjem; polja brzine
• Keywords (english): robot manipulator; motion control; velocity fields
• Language: croatian
• URN:NBN: urn:nbn:hr:168:833626
• 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: 2023-01-13 13:24:42