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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
Cite this document

Suhić, D. (2018). Upravljanje svesmjernim robotima (Master's thesis). Retrieved from https://urn.nsk.hr/urn:nbn:hr:126:684535

Suhić, Domagoj. "Upravljanje svesmjernim robotima." Master's thesis, Josip Juraj Strossmayer University of Osijek, Department of Mathematics, 2018. https://urn.nsk.hr/urn:nbn:hr:126:684535

Suhić, Domagoj. "Upravljanje svesmjernim robotima." Master's thesis, Josip Juraj Strossmayer University of Osijek, Department of Mathematics, 2018. https://urn.nsk.hr/urn:nbn:hr:126:684535

Suhić, D. (2018). 'Upravljanje svesmjernim robotima', Master's thesis, Josip Juraj Strossmayer University of Osijek, Department of Mathematics, accessed 22 January 2020, https://urn.nsk.hr/urn:nbn:hr:126:684535

Suhić D. Upravljanje svesmjernim robotima [Master's thesis]. Osijek: Josip Juraj Strossmayer University of Osijek, Department of Mathematics; 2018 [cited 2020 January 22] Available at: https://urn.nsk.hr/urn:nbn:hr:126:684535

D. Suhić, "Upravljanje svesmjernim robotima", Master's thesis, Josip Juraj Strossmayer University of Osijek, Department of Mathematics, Osijek, 2018. Available at: https://urn.nsk.hr/urn:nbn:hr:126:684535

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Metadata
TitleUpravljanje svesmjernim robotima
Title (english)Control of Omnidirectional Robots
AuthorDomagoj Suhić
MentorDomagoj Matijević (mentor)
Committee memberZoran Tomljanović (predsjednik povjerenstva)
Committee memberDomagoj Matijević (član povjerenstva)
Committee memberSlobodan Jelić (član povjerenstva)
GranterJosip Juraj Strossmayer University of Osijek
Department of Mathematics
(Chair of Applied Mathematics)
(Computer Science Research Group)
Osijek
Defense date and country2018-11-06, Croatia
Scientific / art field,
discipline and subdiscipline		NATURAL SCIENCES
Mathematics
Mathematical Logic and Accounting
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.
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.
Keywords
Keywords (english)
Languagecroatian
URN:NBNurn:nbn:hr:126:684535
Study programmeTitle: Mathematics; specializations in: Financial and Statistical Mathematics, Mathematics and Computer Science, Industrial and Applied Mathematics
Course: Mathematics and Computer Science
Study programme type: university
Study level: graduate
Academic / professional title: magistar/magistra matematike (magistar/magistra matematike)
Type of resourceText
File originBorn digital
Access conditionsOpen access
Terms of usehttp://rightsstatements.org/vocab/InC/1.0/
Created on2018-11-20 08:36:49