magistrsko delo
Mitja Golob (Avtor), Aleš Hace (Mentor), Uroš Župerl (Mentor)

Povzetek

V magistrskem delu je opisano bilateralno teleoperiranje robota PARMAN s pomočjo LINPARMAN mehanizma. LINPARMAN mehanizem služi kot haptični vmesnik, s katerim vodimo robota PARMAN po položaju, hkrati pa reproducira silo, ki se pojavi pri dotiku robota PARMAN z objektom iz okolice. V magistrski nalogi so predstavljene osnovne arhitekture bilateralnega vodenja dveh robotskih mehanizmov, predstavljeno pa je tudi robustno impedančno vodenje kot temeljni regulacijski princip za vodenje robotskih mehanizmov v dotiku z okolico. Robotska mehanizma smo povezali v PP bilateralno arhitekturo, fizična povezava pa je izvedena z Ethernetom in TCP/IP protokolom. Obravnavani sistem smo preizkusili tako s simulacijskim modelom, kot tudi eksperimentalno, kar je v magistrskem delu obsežno dokumentirano.

Ključne besede

bilateralno teleoperiranje;impendačno vodenje;paralelni manipulatorji;robot PARMAN;FPGA;LINPARMAN;

Podatki

Jezik: Slovenski jezik
Leto izida:
Tipologija: 2.09 - Magistrsko delo
Organizacija: UM FERI - Fakulteta za elektrotehniko, računalništvo in informatiko
Založnik: [M. Golob]
UDK: 621.391:681.5(043.2)
COBISS: 17416726 Povezava se bo odprla v novem oknu
Št. ogledov: 1867
Št. prenosov: 258
Ocena: 0 (0 glasov)
Metapodatki: JSON JSON-RDF JSON-LD TURTLE N-TRIPLES XML RDFA MICRODATA DC-XML DC-RDF RDF

Ostali podatki

Sekundarni jezik: Angleški jezik
Sekundarni naslov: BILATERAL TELEOPERATION OF PARMAN ROBOT
Sekundarni povzetek: The Master's thesis describes the bilateral teleoperation of the PARMAN robot by means of the LINPARMAN mechanism. The LINPARMAN mechanism serves as a haptic interface by which the PARMAN robot is controlled along the position and, at the same time, reproduces the force that appears when the PARMAN robot is in contact with an object in its environment. The Master's thesis presents the basic architectures pertaining to bilateral control of two robot mechanisms. It also includes a presentation of robust impedance control as the basic regulation principle related to controlling robot mechanisms in contact with the environment. The two robot mechanisms have been connected into a bilateral PP architecture, whereas a physical connection has been carried out by means of Ethernet and TCP/IP protocol. The system discussed has been tested both by a simulation model as well as in an experimental manner as comprehensively documented in the thesis.
Sekundarne ključne besede: parallel manipulator;PARMAN robot;bilateral teleoperation;LINPARMAN;FPGA;
URN: URN:SI:UM:
Vrsta dela (COBISS): Magistrsko delo/naloga
Komentar na gradivo: Univ. v Mariboru, Fak. za elektrotehniko, računalništvo in informatiko, Mehatronika
Strani: XVIII, 136 str.
ID: 8727352