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undergraduate thesis
Stabilizacija ruke humanoidnog robota
2023. urn:nbn:hr:126:425249
Plačko, Leon
Josip Juraj Strossmayer University of Osijek
School of Applied Mathematics and Informatics

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Plačko, L. (2023). Stabilizacija ruke humanoidnog robota (Undergraduate thesis). Osijek: Josip Juraj Strossmayer University of Osijek, School of Applied Mathematics and Informatics. Retrieved from https://urn.nsk.hr/urn:nbn:hr:126:425249

Plačko, Leon. "Stabilizacija ruke humanoidnog robota." Undergraduate thesis, Josip Juraj Strossmayer University of Osijek, School of Applied Mathematics and Informatics, 2023. https://urn.nsk.hr/urn:nbn:hr:126:425249

Plačko, Leon. "Stabilizacija ruke humanoidnog robota." Undergraduate thesis, Josip Juraj Strossmayer University of Osijek, School of Applied Mathematics and Informatics, 2023. https://urn.nsk.hr/urn:nbn:hr:126:425249

Plačko, L. (2023). 'Stabilizacija ruke humanoidnog robota', Undergraduate thesis, Josip Juraj Strossmayer University of Osijek, School of Applied Mathematics and Informatics, accessed 24 December 2024, https://urn.nsk.hr/urn:nbn:hr:126:425249

Plačko L. Stabilizacija ruke humanoidnog robota [Undergraduate thesis]. Osijek: Josip Juraj Strossmayer University of Osijek, School of Applied Mathematics and Informatics; 2023 [cited 2024 December 24] Available at: https://urn.nsk.hr/urn:nbn:hr:126:425249

L. Plačko, "Stabilizacija ruke humanoidnog robota", 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:126:425249

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Metadata
TitleStabilizacija ruke humanoidnog robota
Title (english)Hand Stabilization Of Humanoid Robot
AuthorLeon Plačko
MentorZoran Tomljanović (mentor)
GranterJosip Juraj Strossmayer University of Osijek
School of Applied Mathematics and Informatics
Osijek
Defense date and country2023-09-29, Croatia
Scientific / art field,
discipline and subdiscipline		NATURAL SCIENCES
Mathematics
Other Mathematical Disciplines
Abstract
U ovom ćemo radu stabilizirati model ruke humanoidnog robota. Definirat ćemo LTI sustav i opisati njegove karakteristike, stabilnost i stabilizabilnost, te pojasniti kako ih provjeriti za zadani LTI sustav. Zatim ćemo objasniti kako se stabilizira LTI sustav te ćemo onda definirati tri metode za stabilizaciju (direktna metoda, Ackermanova formula i Ljapunovljev test), te ih testirati primjerima. Opisat ćemo humanoidnog robota NAO, pojasniti kako funkcionira i koja su njegova obilježja. Nakon toga ćemo definirati model ruke humanoidnog robota NAO u obliku LTI sustava te provjeriti stabilnost i stabilizabilnost. U konačnici ćemo iskoristiti sve navedene metode za stabilizaciju LTI sustava da stabiliziramo model ruke humanoidnog robota NAO.
Abstract (english)
In this paper, we will stabilize the hand model of the humanoid robot. We will define the LTI system and describe its stability and stabilizability characteristics and how they are checked for a given LTI system. Then we will explain how the LTI system is stabilized and then we will define three methods for stabilization (direct method, Ackerman’s formula and Lyapunov’s test) and test them on examples. We will describe the humanoid robot NAO, how it works and what its features are. After that, we will define the model of the arm of the humanoid robot NAO in the form of an LTI system and check the stability and stabilizability. Ultimately, we will use all the above methods to stabilize the LTI system to stabilize the NAO humanoid robot arm model.
Keywords
Keywords (english)
Languagecroatian
URN:NBNurn:nbn:hr:126:425249
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 on2023-11-02 08:33:53