Robotska manipulacija s navođenjem pomoću ultrazvučnog senzora

Ćebo, Aldin

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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

Cite this document

APA 6th Edition

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

MLA 8th Edition

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

Chicago 17th Edition

Harvard

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 19 November 2024, https://urn.nsk.hr/urn:nbn:hr:200:282720

Vancouver

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 19] Available at: https://urn.nsk.hr/urn:nbn:hr:200:282720

IEEE

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

Cite this item: https://urn.nsk.hr/urn:nbn:hr:200:282720

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Metadata

Title	Robotska manipulacija s navođenjem pomoću ultrazvučnog senzora
Title (english)	Robot manipulation guided by ultrasonic range finder
Author	Aldin Ćebo
Mentor	Robert Cupec (mentor)
Committee member	Robert Cupec (predsjednik povjerenstva)
Committee member	Emmanuel Karlo Nyarko (član povjerenstva)
Committee member	Ratko Grbić (član povjerenstva)
Granter	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) Osijek
Defense date and country	2017-12-21, 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)
Language	croatian
URN:NBN	urn:nbn:hr:200:282720
Study programme	Title: 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 resource	Text
File origin	Born digital
Access conditions	Open access
Terms of use
Created on	2018-01-10 17:05:33