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master's thesis
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Control of Omnidirectional Robots
Domagoj Suhić (2018)
Josip Juraj Strossmayer University of Osijek
Department of Mathematics
Chair of Applied Mathematics
Computer Science Research Group
Metadata
TitleUpravljanje svesmjernim robotima
AuthorDomagoj Suhić
Mentor(s)Domagoj Matijević (thesis advisor)
Abstract
U ovom radu bavili smo se upravljanjem svesmjernih robota. Prvo smo se posvetili teorijskim aspektima upravljanja mobilnim robotima. Izrazili smo uvjete kotrljanja i uvjete klizanja za fiksni standardni te švedski kotač. Nakon toga smo predstavili problem povratne kinematike te ga riješili za tri primjera svesmjernih robota. Zatim smo se bavili problemom upravljanja mobilnim robotima te smo predstavili petlje povratne veze i PID regulatore. Obradili smo i diskretizaciju PID regulatora. Na kraju smo se posvetili predstavljanju jedne konkretne implementacije svesmjernog robota. Prvo smo predstavili strukturu samog robota te elektroničke komponente koje ga sačinjavaju, a onda smo predstavili software pomoću kojega upravljamo samim robotom.
Keywordscontrol robot omnidirectional Swedish wheel inverse kinematics feedback loop PID Python C++ Raspberry PI Arduino
Parallel title (English)Control of Omnidirectional Robots
Committee MembersZoran Tomljanović (committee chairperson)
Domagoj Matijević (committee member)
Slobodan Jelić (committee member)
GranterJosip Juraj Strossmayer University of Osijek
Department of Mathematics
Lower level organizational unitsChair of Applied Mathematics
Computer Science Research Group
PlaceOsijek
StateCroatia
Scientific field, discipline, subdisciplineNATURAL SCIENCES
Mathematics
Mathematical Logic and Accounting
Study programme typeuniversity
Study levelgraduate
Study programmeMathematics; specializations in: Financial and Statistical Mathematics, Mathematics and Computer Science, Industrial and Applied Mathematics
Study specializationMathematics and Computer Science
Academic title abbreviationmag.math.
Genremaster's thesis
Language Croatian
Defense date2018-11-06
Parallel abstract (English)
This paper discussed controlling omnidirectional robots. The first part of the paper was dedicated to the theoretical aspects of controlling mobile robots. Rolling and sliding constraints were presented for both the fixed standard wheel and the Swedish wheel. Next, the inverse kinematic problem was described and solved for three omnidirectional robot examples. After that, the paper discussed the problem of controlling mobile robots. Feedback loops and PID controllers were presented. The discrete version of the PID controller was also shown. Finally, an implementation of an omnidirectional robot was presented. The paper first discussed its structure and electronic components and after that the software used to control it.
Parallel keywords (Croatian)upravljanje robot svesmjerni švedski kotač povratna kinematika petlja povratne veze PID Python C++ Raspberry PI Arduino
Resource typetext
Access conditionOpen access
Terms of usehttp://rightsstatements.org/vocab/InC/1.0/
URN:NBNhttps://urn.nsk.hr/urn:nbn:hr:126:684535