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master's thesis
Samobalansirajući robot
2016. urn:nbn:hr:200:094387
Plavšić, Nemanja
Josip Juraj Strossmayer University of Osijek
Faculty of Electrical Engineering, Computer Science and Information Technology Osijek
Department of Communications
Chair of Electronics and Microelectronics

Cite this document

Plavšić, N. (2016). Samobalansirajući robot (Master's thesis). Retrieved from https://urn.nsk.hr/urn:nbn:hr:200:094387

Plavšić, Nemanja. "Samobalansirajući robot." Master's thesis, Josip Juraj Strossmayer University of Osijek, Faculty of Electrical Engineering, Computer Science and Information Technology Osijek, 2016. https://urn.nsk.hr/urn:nbn:hr:200:094387

Plavšić, Nemanja. "Samobalansirajući robot." Master's thesis, Josip Juraj Strossmayer University of Osijek, Faculty of Electrical Engineering, Computer Science and Information Technology Osijek, 2016. https://urn.nsk.hr/urn:nbn:hr:200:094387

Plavšić, N. (2016). 'Samobalansirajući robot', Master's thesis, Josip Juraj Strossmayer University of Osijek, Faculty of Electrical Engineering, Computer Science and Information Technology Osijek, accessed 28 February 2021, https://urn.nsk.hr/urn:nbn:hr:200:094387

Plavšić N. Samobalansirajući robot [Master's thesis]. Osijek: Josip Juraj Strossmayer University of Osijek, Faculty of Electrical Engineering, Computer Science and Information Technology Osijek; 2016 [cited 2021 February 28] Available at: https://urn.nsk.hr/urn:nbn:hr:200:094387

N. Plavšić, "Samobalansirajući robot", Master's thesis, Josip Juraj Strossmayer University of Osijek, Faculty of Electrical Engineering, Computer Science and Information Technology Osijek, Osijek, 2016. Available at: https://urn.nsk.hr/urn:nbn:hr:200:094387

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Metadata
TitleSamobalansirajući robot
Title (english)Self-balancing robot
AuthorNemanja Plavšić
MentorDavor Vinko (mentor)
Committee memberDavor Vinko (predsjednik povjerenstva)
Committee memberVanja Mandrić Radivojević (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 Communications)
(Chair of Electronics and Microelectronics)
Osijek
Defense date and country2016-07-12, Croatia
Scientific / art field,
discipline and subdiscipline		TECHNICAL SCIENCES
Electrical Engineering
Electronics
Abstract
Ideja je bila izraditi samobalansirajući robot koji će preko Atmega32 mikrokontrolera komunicirati sa MPU6050 žiroskopom i akcelerometrom čije se vrijednosti šalju na PD regulator čiji se odziv šalje na aktuatore. Cilj zadatka je konstruirati robota i napisati čitav programski kod u C programskom jeziku. Potrebno je ostvariti komunikaciju sa MPU6050 te filtrirati dobivene signale komplementarnim filtrom. Zatim, realizirati PD regulator te podesiti parametre kako bi se dobilo željeno dinamičko vladanje. Za aktuatore je potrebno izraditi štampanu pločicu sa L293D čipom i napisati programski kod za kontrolu. Robot uspješno vrši balansiranje prema zamišljenom planu.
Abstract (english)
The idea was to build self-balancing robot which will communicate to MPU6050 gyroscope and accelerometer with Atmega32 microcontroller which values are then sent to PD controller whose output is sent to actuators. Main goal is to construct the robot and to write program code in C programming language. It is necessary to communicate with MPU6050 and filter the values with complementary filter. Furthermore it is needed to design PD controller and adjust the parametars to get desired dynamic behavior. Printed circuit board with L293D chips was needed for the actuators and to write a programing code forcontrol of the motors. Every goal that was defined in the beginning wasachieved and we have a stable and functional self-balancing robot.
Keywords
Keywords (english)
Languagecroatian
URN:NBNurn:nbn:hr:200:094387
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 on2016-10-17 12:26:34