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undergraduate thesis
Praćenje putanje manipulatorom robusno na singularitete
2020. urn:nbn:hr:168:368254
Guberina, Marko
University of Zagreb
Faculty of Electrical Engineering and Computing

Cite this document

Guberina, M. (2020). Praćenje putanje manipulatorom robusno na singularitete (Undergraduate thesis). Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing. Retrieved from https://urn.nsk.hr/urn:nbn:hr:168:368254

Guberina, Marko. "Praćenje putanje manipulatorom robusno na singularitete." Undergraduate thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2020. https://urn.nsk.hr/urn:nbn:hr:168:368254

Guberina, Marko. "Praćenje putanje manipulatorom robusno na singularitete." Undergraduate thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2020. https://urn.nsk.hr/urn:nbn:hr:168:368254

Guberina, M. (2020). 'Praćenje putanje manipulatorom robusno na singularitete', Undergraduate thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, accessed 30 November 2024, https://urn.nsk.hr/urn:nbn:hr:168:368254

Guberina M. Praćenje putanje manipulatorom robusno na singularitete [Undergraduate thesis]. Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing; 2020 [cited 2024 November 30] Available at: https://urn.nsk.hr/urn:nbn:hr:168:368254

M. Guberina, "Praćenje putanje manipulatorom robusno na singularitete", Undergraduate thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, Zagreb, 2020. Available at: https://urn.nsk.hr/urn:nbn:hr:168:368254

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Metadata
TitlePraćenje putanje manipulatorom robusno na singularitete
Title (english)Singularity-robust manipulator path following
AuthorMarko Guberina
MentorIvan Petrović (mentor)
Committee memberIvan Petrović (predsjednik povjerenstva)
Committee memberFilip Marić (član povjerenstva)
Committee memberAntea Hadviger (član povjerenstva)
GranterUniversity of Zagreb
Faculty of Electrical Engineering and Computing
Zagreb
Defense date and country2020-07-14, Croatia
Scientific / art field,
discipline and subdiscipline		TECHNICAL SCIENCES
Computing
Abstract
Robotski manipulatori često moraju precizno pratiti zadanu putanju. Izvedivost tog zadatka leži u sposobnosti manipulatora da se pomakne u zadanom smjeru. U nekim konfiguracijama, manipulatori gube sposobnost da se pomaknu u određenim smjerovima što vodi do kritičnih kvarova i štete. U ovom radu razvijen je kinematički kontroler robustan na singularitete. Robusnost je ostvarena korištenjem rezultata iz Riemannianove geometrije. Funkcionalnost razvijenog kontrolera demonstrirana je pomoću račcunalne simulacije u programu Webots.
Abstract (english)
Robotic manipulators often need to precisely follow a given trajectory. Their ability to do so relies upon their ability to move in a given direction. In certain configurations, called singularities, manipulators lose their ability to move in certain directions which leads to critical failures and damage. In this thesis, a kinematic controller robust to singularities is developed. The robustness is achieved by leveraging results from Riemannian geometry. The developed controller’s functionality is demonstrated via computer simulation in Webots.
Keywords
Keywords (english)
Languageenglish
URN:NBNurn:nbn:hr:168:368254
Study programmeTitle: Computing
Study programme type: university
Study level: undergraduate
Academic / professional title: sveučilišni/a prvostupnik/ prvostupnica (baccalaureus/baccalaurea) inženjer/inženjerka računarstva (sveučilišni/a prvostupnik/ prvostupnica (baccalaureus/baccalaurea) inženjer/inženjerka računarstva)
Type of resourceText
File originBorn digital
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Created on2023-01-13 15:01:43