Izdelava teleoperiranega dvokolesnega mobilnega robota z mikrokrmilnikom ARM TIVA C TM4C123

diplomsko delo univerzitetnega strokovnega študijskega programa

Jurij Martinc (Author), Aleš Hace (Mentor)

Abstract

V diplomskem delu je opisana izdelava laboratorijskega teleoperiranega dvokolesnega mobilnega robota. Opisano je modeliranje in konstruiranje mehanskega dela robotske mobilne platforme s programskim paketom SolidWorks ter projektiranje električnega vezja vgrajenega krmilnega sistema s programskim paketom Altium Designer. Električni pogon robota je izveden z DC motorji s H-mostiči ter s tokovno in hitrostno regulacijsko zanko na mikrokrmilniku TIVA C TM4C123. Pri snovanju regulacijske zanke smo opravili predhodne simulacije robotskega sistema v programskem paketu Matlab/Simulink. Mobilni robot je teleoperiran s haptičnim vmesnikom Novint Falcon. Komunikacija med mobilnim robotom in haptičnim vmesnikom je izvedena preko brezžičnega omrežja Wi-Fi. V diplomskem delu so predstavljene tudi eksperimentalne meritve regulacijskih odzivov.

Keywords

robotska mobilna platforma;tokovna regulacija;hitrostna regulacija;brezžično teleoperiranje;haptični vmesniki;

Data

Language:	Slovenian
Year of publishing:	2014
Typology:	2.11 - Undergraduate Thesis
Organization:	UM FERI - Faculty of Electrical Engineering and Computer Science
Publisher:	[J. Martinc]
UDC:	621.398:681.51:007.52(043.2)
COBISS:	17995030
Views:	1347
Downloads:	141
Average score:	0 (0 votes)
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Other data

Secondary language:	English
Secondary title:	MAKING OF THE TELEOPERATED TWO WHEELED MOBILE ROBOT WITH ARM TIVA C TM4C123 MICROCONTROLLER
Secondary abstract:	The diploma work holds a description of the making of laboratory remote operational two wheeled mobile robot. The description includes the modeling stage and the construction stage of the mechanical part of the robot’s mobile platform with the program package SolidWorks and the projecting of the electrically wired steering system with the program package Altium Designer. The electrical drive of the robot is conducted with DC motors with H-bridges and with a current and speed regulation loop on the TIVA C TM4C123 microcontroller. When forming the regulation loop we conducted prior simulations of the robot system in the program package Matlab/Simulnik. The mobile robot is remote-operated with the haptic interface Novint Falcon. The communication between the robot and the haptic interface is conducted through the wireless network Wi-Fi. In the diploma work we also present the experimental measures of the regulation reactions.
Secondary keywords:	robots mobile platform;current regulation;speed regulation;wireless teleoperation;haptic interface;
URN:	URN:SI:UM:
Type (COBISS):	Bachelor thesis/paper
Thesis comment:	Univ. v Mariboru, Fak. za elektrotehniko, računalništvo in informatiko, Avtomatika in robotika
Pages:	VI, 124 str.
ID:	8729752