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undergraduate thesis
Upravljanje mobilnim robotom s diferencijalnim pogonom
2021. urn:nbn:hr:126:199417
Erceg, Roko
Josip Juraj Strossmayer University of Osijek
Department of Mathematics

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Erceg, R. (2021). Upravljanje mobilnim robotom s diferencijalnim pogonom (Undergraduate thesis). Osijek: Josip Juraj Strossmayer University of Osijek, Department of Mathematics. Retrieved from https://urn.nsk.hr/urn:nbn:hr:126:199417

Erceg, Roko. "Upravljanje mobilnim robotom s diferencijalnim pogonom." Undergraduate thesis, Josip Juraj Strossmayer University of Osijek, Department of Mathematics, 2021. https://urn.nsk.hr/urn:nbn:hr:126:199417

Erceg, Roko. "Upravljanje mobilnim robotom s diferencijalnim pogonom." Undergraduate thesis, Josip Juraj Strossmayer University of Osijek, Department of Mathematics, 2021. https://urn.nsk.hr/urn:nbn:hr:126:199417

Erceg, R. (2021). 'Upravljanje mobilnim robotom s diferencijalnim pogonom', Undergraduate thesis, Josip Juraj Strossmayer University of Osijek, Department of Mathematics, accessed 22 December 2024, https://urn.nsk.hr/urn:nbn:hr:126:199417

Erceg R. Upravljanje mobilnim robotom s diferencijalnim pogonom [Undergraduate thesis]. Osijek: Josip Juraj Strossmayer University of Osijek, Department of Mathematics; 2021 [cited 2024 December 22] Available at: https://urn.nsk.hr/urn:nbn:hr:126:199417

R. Erceg, "Upravljanje mobilnim robotom s diferencijalnim pogonom", Undergraduate thesis, Josip Juraj Strossmayer University of Osijek, Department of Mathematics, Osijek, 2021. Available at: https://urn.nsk.hr/urn:nbn:hr:126:199417

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Metadata
TitleUpravljanje mobilnim robotom s diferencijalnim pogonom
Title (english)Control of differential drive mobile robot
AuthorRoko Erceg
MentorDomagoj Matijevic (mentor)
MentorJurica Maltar (komentor)
GranterJosip Juraj Strossmayer University of Osijek
Department of Mathematics
Osijek
Defense date and country2021-09-30, Croatia
Scientific / art field,
discipline and subdiscipline		NATURAL SCIENCES
Mathematics
Mathematical Logic and Accounting
Abstract
U ovom radu bavimo se upravljanjem mobilnih robota s diferencijalnim pogonom. Najprije izučavamo kinematiku ovakvih robota kako bismo povezali okretanje kotača s promjenom robotove pozicije u prostoru. Analiziramo uvjete vrtnje i neproklizavanja standardnog fiksnog kotača i dobivene rezultate koristimo kako bismo opisali kretanje mobilnog robota. Sljedeći problem kojim se bavimo jest \( I^{2}C\) komunikacija. Objasnit ćemo arhitekturu \( I^{2}C\) uređaja i objasniti protok podataka kroz \( I^{2}C\) sabirnicu. Nakon toga prelazimo na PID regulator. Na jednostavnom primjeru objasnit ćemo važnost pojedinih dijelova PID regulatora. Također, doći ćemo do jednadžbe koju ćemo koristiti kako bismo okretali motore željenim kutnim brzinama. Na kraju ćemo predstaviti jednu implementaciju mobilnog robota s diferencijalnim pogonom.
Abstract (english)
In this paper we discuss control of differential drive mobile robots. Firstly we study kinematics of this kind of mobile robots so we could map wheel spin to a change in robot’s position. We analyze rolling constraints and sliding constraints of fixed standard wheel and use the resulting expressions to describe mobile robot’s movements. Next we talk about \( I^{2}C\) communication. We will describe architecture of \( I^{2}C\) devices and talk about how data flows through \( I^{2}C\) bus. After that we move on to PID controller. We will use a simple example to show importance of every parameter of PID controller. Also, we will derive an equation that we will use to control angular velocity of our wheels. Lastly, we will show one implementation of a differential drive mobile robot.
Keywords
Keywords (english)
Languagecroatian
URN:NBNurn:nbn:hr:126:199417
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 on2024-03-05 10:39:17