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master's thesis
Robotska manipulacija s navođenjem pomoću ultrazvučnog senzora
2017. urn:nbn:hr:200:282720
Ćebo, Aldin
Josip Juraj Strossmayer University of Osijek
Faculty of Electrical Engineering, Computer Science and Information Technology Osijek
Department of Computer Engineering and Automation
Chair of Automation and Robotics

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Ćebo, A. (2017). Robotska manipulacija s navođenjem pomoću ultrazvučnog senzora (Master's thesis). Osijek: Josip Juraj Strossmayer University of Osijek, Faculty of Electrical Engineering, Computer Science and Information Technology Osijek. Retrieved from https://urn.nsk.hr/urn:nbn:hr:200:282720

Ćebo, Aldin. "Robotska manipulacija s navođenjem pomoću ultrazvučnog senzora." Master's thesis, Josip Juraj Strossmayer University of Osijek, Faculty of Electrical Engineering, Computer Science and Information Technology Osijek, 2017. https://urn.nsk.hr/urn:nbn:hr:200:282720

Ćebo, Aldin. "Robotska manipulacija s navođenjem pomoću ultrazvučnog senzora." Master's thesis, Josip Juraj Strossmayer University of Osijek, Faculty of Electrical Engineering, Computer Science and Information Technology Osijek, 2017. https://urn.nsk.hr/urn:nbn:hr:200:282720

Ćebo, A. (2017). 'Robotska manipulacija s navođenjem pomoću ultrazvučnog senzora', Master's thesis, Josip Juraj Strossmayer University of Osijek, Faculty of Electrical Engineering, Computer Science and Information Technology Osijek, accessed 20 November 2024, https://urn.nsk.hr/urn:nbn:hr:200:282720

Ćebo A. Robotska manipulacija s navođenjem pomoću ultrazvučnog senzora [Master's thesis]. Osijek: Josip Juraj Strossmayer University of Osijek, Faculty of Electrical Engineering, Computer Science and Information Technology Osijek; 2017 [cited 2024 November 20] Available at: https://urn.nsk.hr/urn:nbn:hr:200:282720

A. Ćebo, "Robotska manipulacija s navođenjem pomoću ultrazvučnog senzora", Master's thesis, Josip Juraj Strossmayer University of Osijek, Faculty of Electrical Engineering, Computer Science and Information Technology Osijek, Osijek, 2017. Available at: https://urn.nsk.hr/urn:nbn:hr:200:282720

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Metadata
TitleRobotska manipulacija s navođenjem pomoću ultrazvučnog senzora
Title (english)Robot manipulation guided by ultrasonic range finder
AuthorAldin Ćebo
MentorRobert Cupec (mentor)
Committee memberRobert Cupec (predsjednik povjerenstva)
Committee memberEmmanuel Karlo Nyarko (član povjerenstva)
Committee memberRatko Grbić (član povjerenstva)
GranterJosip Juraj Strossmayer University of Osijek
Faculty of Electrical Engineering, Computer Science and Information Technology Osijek
(Department of Computer Engineering and Automation)
(Chair of Automation and Robotics)
Osijek
Defense date and country2017-12-21, Croatia
Scientific / art field,
discipline and subdiscipline		TECHNICAL SCIENCES
Electrical Engineering
Automation and Robotics
Abstract
U ovom radu opisan je sustav koji se sastoji od robotskog manipulatora, mikroprocesora i senzora. Riješen je matematički model robotskog manipulatora kroz direktnu odnosno inverznu kinematiku. Direktna kinematika je riješena preko Denavit-Hartenbergove metode. Inverzna kinematika rješena je Pieperovim rješenjem. Također su prikazana programska rješenja za direktnu i inverznu kinematiku. Korišten je ultrazvučni senzor za mapiranje 2D prostora te je opisana problematika i prikazano programsko rješenje. Cijeli programski kod je napisan u programskom jeziku MATLAB. U radu je također opisan i korišten mikroprocesor Arduino Mega 2560. Grafičko sučelje je napravljeno kroz GUIDE pomoću MATLABA te je sve spojeno s mikroprocesorom koji omogućava upravljanje robotskim manipulatorom.
Abstract (english)
A system consisting of a robot manipulator, microprocessor and sensor is described. The mathematical model of the robotic manipulators was solved using direct and inverse kinematics. Direct kinematics has been solved using the Denavit-Hartenberg method and inverse kinematics by Pieper's solution. Program solutions for direct and inverse kinematics are also described. An ultrasonic sensor is used for 2D mapping of the robot's environment. The problem of 2D mapping by ultrasonic sensor is described and a program solution si presented. The full program code is written in MATLAB programming language. The Arduino Mega 2560 microprocessor is also described and used in this work. A graphical interface is created using GUIDE tool of MATLAB and it is connected to the microprocessor which controls the robot manipulator.
Keywords
Keywords (english)
Languagecroatian
URN:NBNurn:nbn:hr:200:282720
Study programmeTitle: Graduate University Study Programme in Computer Engineering
Study programme type: university
Study level: graduate
Academic / professional title: magistar/magistra inženjer/inženjerka računarstva (magistar/magistra inženjer/inženjerka računarstva)
Type of resourceText
File originBorn digital
Access conditionsOpen access
Terms of useLicence In copyright icon
Created on2018-01-10 17:05:33