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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... New window
ID Gotlih, Karl (Comentor)
Files:.pdf 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 New window
UDC:621.3:681.5(043.2)
COBISS.SI-ID:15961110 New window
NUK URN:URN:SI:UM:DK:F1PLPVVN
Publication date in DKUM:10.01.2012
Views:2419
Downloads:279
Metadata:XML DC-XML DC-RDF
Categories:KTFMB - FERI
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Secondary language

Language:Slovenian
Title:ELEKTRONSKO VEZJE ZA POGON MOTORJEV HUMANOIDNEGA ROBOTA Z UPORABO CAN BUS
Abstract:V tem diplomskem delu se predstavi načrtovanje elektronskega vezja. To je zasnovano na komunikacijskem protokolu CAN bus. Oblikovano je za uporabo v humanoidnem robotu pri krmiljenju sklepa (prostostne stopnje mehanizma). Načrtovani krmilnik motorja omogoča hkratno priključitev večih odjemalcev (identičnih krmilnikov), kjer poteka komunikacija na istem komunikacijskem protokolu (delitev z ostalimi napravami). Preizkus delovanja sistema je narejen tako da se krmilniku pošljejo različne želene vrednosti položaja. Želena vrednost položaja je dosežene preko krmilnika z različnimi vrednostmi hitrosti. Krmilnik zagotavlja nadzor nad delovanjem sistema tudi ko je motor obremenjen. Ker je ta krmilnik zasnovan za humanoidnega robota, ta obremenitev odraža nestabilnost pri različnih postavitvah robota (obremenitev na sklepu robota). Na koncu so predstavljeni rezultati in ugotovitve načrtovanega vezja za pogon motorjev.
Keywords:pogon motorja, načrtovanje, komunikacijski protokoli, CAN, humanoidni robot.


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