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undergraduate thesis
Upravljanje robotskom rukom
2023. urn:nbn:hr:126:786691
Stjepanović, Josip
Josip Juraj Strossmayer University of Osijek
School of Applied Mathematics and Informatics

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Stjepanović, J. (2023). Upravljanje robotskom rukom (Undergraduate thesis). Osijek: Josip Juraj Strossmayer University of Osijek, School of Applied Mathematics and Informatics. Retrieved from https://urn.nsk.hr/urn:nbn:hr:126:786691

Stjepanović, Josip. "Upravljanje robotskom rukom." Undergraduate thesis, Josip Juraj Strossmayer University of Osijek, School of Applied Mathematics and Informatics, 2023. https://urn.nsk.hr/urn:nbn:hr:126:786691

Stjepanović, Josip. "Upravljanje robotskom rukom." Undergraduate thesis, Josip Juraj Strossmayer University of Osijek, School of Applied Mathematics and Informatics, 2023. https://urn.nsk.hr/urn:nbn:hr:126:786691

Stjepanović, J. (2023). 'Upravljanje robotskom rukom', Undergraduate thesis, Josip Juraj Strossmayer University of Osijek, School of Applied Mathematics and Informatics, accessed 15 November 2024, https://urn.nsk.hr/urn:nbn:hr:126:786691

Stjepanović J. Upravljanje robotskom rukom [Undergraduate thesis]. Osijek: Josip Juraj Strossmayer University of Osijek, School of Applied Mathematics and Informatics; 2023 [cited 2024 November 15] Available at: https://urn.nsk.hr/urn:nbn:hr:126:786691

J. Stjepanović, "Upravljanje robotskom rukom", Undergraduate thesis, Josip Juraj Strossmayer University of Osijek, School of Applied Mathematics and Informatics, Osijek, 2023. Available at: https://urn.nsk.hr/urn:nbn:hr:126:786691

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Metadata
TitleUpravljanje robotskom rukom
Title (english)Control Of Robotic Arm
AuthorJosip Stjepanović
MentorZoran Tomljanović (mentor)
GranterJosip Juraj Strossmayer University of Osijek
School of Applied Mathematics and Informatics
Osijek
Defense date and country2023-09-28, Croatia
Scientific / art field,
discipline and subdiscipline		NATURAL SCIENCES
Mathematics
Applied Mathematics and Mathematical Modeling
Abstract
Ovaj rad analizira i testira na primjeru kontrole ruke robota teorijsku pozadinu, svojstva i ponašanje proporcionalno-integracijsko-derivacijskog regulatora (PID regulatora). Kako bi potvrdili teorijske zaključke implementiran je PID regulator za upravljanje kretanja ruke u programskom softveru Choregraphe gdje nam je omogućena kontrola nad kretnjama NAO robota. Nakon implementacije regulator je testiran na simuliranom i pravom robotu. Uz to tijekom pokreta ruke praćene su razne vrijednosti o kretanju ruke i elemenata regulatora te je sve grafički prikazano. Testovi pokreta na robotu potvrđuju efikasnost teorije PID regulatora, a njegova robustnost i jednostavnost implementacije pokazuju zašto ima tako široku uporabu.
Abstract (english)
This paper analyzes and tests the theoretical background, properties and behavior of the Proportional-Integral-Derivative controller (PID controller) using the example of robot arm control. To confirm the theoretical conclusions, in Choregraphe software, a PID controller is implemented to control the motion of the robot arm. Choregraphe software allows us to control the movements of the NAO robot. After the implementation, the controller is tested on both simulated and real robot. Additionally, during arm movement, various motion-related values and controller elements are tracked and graphically represented. The motion tests on the robot confirm the efficiency of the PID controller theory. Its robustness and ease of implementation demonstrate why it has such broad applicability.
Keywords
Keywords (english)
Languagecroatian
URN:NBNurn:nbn:hr:126:786691
Study programmeTitle: Bachelor of Mathematics and Computer Science
Study programme type: university
Study level: undergraduate
Academic / professional title: sveučilišni/a prvostupnik/prvostupnica (baccalaureus/baccalaurea) matematike i računarstva (sveučilišni/a prvostupnik/prvostupnica (baccalaureus/baccalaurea) matematike i računarstva)
Type of resourceText
File originBorn digital
Access conditionsOpen access
Terms of useLicence In copyright icon
Created on2023-10-23 07:41:51