Title: | ELECTRONIC CIRCUIT FOR A HUMANOID ROBOT MOTOR DRIVER USING CAN BUS |
---|
Authors: | ID Božnik, Andrej (Author) ID Rodič, Miran (Mentor) More about this mentor...  ID Gotlih, Karl (Comentor) |
Files: | UNI_Boznik_Andrej_2011.pdf (9,78 MB) MD5: 0B342622ECB7C20B47DE214F6C963587 PID: 20.500.12556/dkum/f7eed2da-5e41-48db-a245-8273043280cc
|
---|
Language: | English |
---|
Work type: | Undergraduate thesis |
---|
Organization: | FERI - Faculty of Electrical Engineering and Computer Science
|
---|
Abstract: | In this thesis, the design of the motor driver electronic board is presented. The motor driver is designed on a Control Area Network bus based communication network. The motor driver is aimed to be used in a humanoid robot as controlling the joint actuators. The designed motor controllers in this project have the capability to be used in a network by multi clients in order to provide different joints control on a common bus.
The performance evaluation test of system is made by commanding different desired positions to the controller. The desired positions are approached by the controller by different velocities. The controller is designed in order to provide controllability for the system even in the case of load unstability of the joint. Since the motor controller is aimed to be used for a humanoid robot, the load reflected unstability causes the variation of the overall pose of the robot.
Finally, the results are compared and discussed for the evaluation of the designed motor controller. |
---|
Keywords: | Motor Driver, Design Process, Communication Protocols, CAN, Humanoid Robot. |
---|
Place of publishing: | Maribor |
---|
Publisher: | [A. Božnik] |
---|
Year of publishing: | 2011 |
---|
PID: | 20.500.12556/DKUM-21617  |
---|
UDC: | 621.3:681.5(043.2) |
---|
COBISS.SI-ID: | 15961110  |
---|
NUK URN: | URN:SI:UM:DK:F1PLPVVN |
---|
Publication date in DKUM: | 10.01.2012 |
---|
Views: | 2419 |
---|
Downloads: | 279 |
---|
Metadata: |  |
---|
Categories: | KTFMB - FERI
|
---|
:
|
Copy citation |
---|
| | | Average score: | (0 votes) |
---|
Your score: | Voting is allowed only for logged in users. |
---|
Share: |  |
---|
Hover the mouse pointer over a document title to show the abstract or click
on the title to get all document metadata. |