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Title:
IZDELAVA TELEOPERIRANEGA DVOKOLESNEGA MOBILNEGA ROBOTA Z MIKROKRMILNIKOM ARM TIVA C TM4C123
Authors:
Martinc, Jurij
(Author)
Hace, Aleš
(Mentor)
More about this mentor...
Files:
UNI_Martinc_Jurij_2014.pdf
(5,62 MB)
Language:
Slovenian
Work type:
Bachelor thesis/paper (mb11)
Typology:
2.11 - Undergraduate Thesis
Organization:
FERI - Faculty of Electrical Engineering and Computer Science
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 vmesnik
Year of publishing:
2014
Publisher:
[J. Martinc]
Source:
Maribor
UDC:
621.398:681.51:007.52(043.2)
COBISS_ID:
17995030
NUK URN:
URN:SI:UM:DK:SOU2ORSO
Views:
1032
Downloads:
123
Metadata:
Categories:
KTFMB - FERI
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Secondary language
Language:
English
Title:
MAKING OF THE TELEOPERATED TWO WHEELED MOBILE ROBOT WITH ARM TIVA C TM4C123 MICROCONTROLLER
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.
Keywords:
robot’s mobile platform
,
current regulation
,
speed regulation
,
wireless teleoperation
,
haptic interface
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