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Title:
Razvoj ON-LINE algoritmov vodenja za robotske sisteme : magistrsko delo
Authors:
ID
Bencak, Primož
(Author)
ID
Župerl, Uroš
(Mentor)
More about this mentor...
ID
Šafarič, Riko
(Mentor)
More about this mentor...
ID
Fister, Iztok
(Comentor)
Files:
MAG_Bencak_Primoz_2019.pdf
(18,13 MB)
MD5: 348B34B1085283439D6A279BCFC115A7
PID:
20.500.12556/dkum/67eb27e5-6c10-4125-8b8b-97f7562eb948
Language:
Slovenian
Work type:
Master's thesis/paper
Typology:
2.09 - Master's Thesis
Organization:
FS - Faculty of Mechanical Engineering
Abstract:
Tehnološki razvoj zadnjih desetletij na področju robotike omogoča izjemne natančnosti robotskih mehanizmov. Vendar cena za vodenje takšnih mehanizmov ni majhna – zato so potrebne dodatne mehanske rešitve, ki sicer poenostavljajo vodenje, vendar nas v marsičem omejujejo. V tej magistrski nalogi se posvečamo nelinearnim regulacijam, s katerimi vodimo regulirani sistem na osnovi modela sprotno (angl. on-line). S pomočjo algoritmov računske inteligence aproksimiramo ta sistem v realnem času in na podlagi teh na modelu generiramo testne rešitve. Najboljše rešitve uporabimo kot vhod v regulirani sistem. Pozornost posvetimo izboljšavam obstoječega naprednega algoritma vodenja na osnovi modela. Tehnološki razvoj zadnjih desetletij na področju robotike omogoča izjemne natančnosti robotskih mehanizmov. Vendar cena za vodenje takšnih mehanizmov ni majhna – zato so potrebne dodatne mehanske rešitve, ki sicer poenostavljajo vodenje, vendar nas v marsičem omejujejo. V tej magistrski nalogi se posvečamo nelinearnim regulacijam, s katerimi vodimo regulirani sistem na osnovi modela sprotno (angl. on-line). S pomočjo algoritmov računske inteligence aproksimiramo ta sistem v realnem času in na podlagi teh na modelu generiramo testne rešitve. Najboljše rešitve uporabimo kot vhod v regulirani sistem. Pozornost posvetimo izboljšavam obstoječega naprednega algoritma vodenja na osnovi modela.
Keywords:
on-line vodenje na osnovi modela
,
nelinearne regulacije
,
optimizacijski algoritmi po vzorih iz narave
,
vodenje robotskih mehanizmov
,
digitalni signalni krmilnik
Place of publishing:
Maribor
Place of performance:
Maribor
Publisher:
[P. Bencak]
Year of publishing:
2019
Number of pages:
XI, 76 str.
PID:
20.500.12556/DKUM-74401
UDC:
007.52:004.832.28(043.2)
COBISS.SI-ID:
22820118
NUK URN:
URN:SI:UM:DK:YDRSGVKV
Publication date in DKUM:
10.09.2019
Views:
1646
Downloads:
172
Metadata:
Categories:
KTFMB - FS
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:
BENCAK, Primož, 2019,
Razvoj ON-LINE algoritmov vodenja za robotske sisteme : magistrsko delo
[online]. Master’s thesis. Maribor : P. Bencak. [Accessed 14 March 2025]. Retrieved from: https://dk.um.si/IzpisGradiva.php?lang=eng&id=74401
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Licences
License:
CC BY-NC-ND 4.0, Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International
Link:
http://creativecommons.org/licenses/by-nc-nd/4.0/
Description:
The most restrictive Creative Commons license. This only allows people to download and share the work for no commercial gain and for no other purposes.
Licensing start date:
26.08.2019
Secondary language
Language:
English
Title:
Developing ON-LINE algorithms for robot systems control
Abstract:
Technological advances in the last few decades in the field of robotics allow achieving an outstanding accuracy of robotic mechanisms. But the price of controlling such mechanisms is not small. Therefore, certain mechanical solutions are required in order to simplify robot control, which also limit us in many ways. In this master thesis, we dive ourselves into non-linear control, which is capable to control the system on-line. Using computational intelligence algorithms, the system is approximated in real-time. Furthermore, model is used as a simulation tool for nature-inspired algorithms, which generate trial solutions. Best solutions are used as inputs for our system. We focus upon improving existing adaptive on-line model-based control algorithm.
Keywords:
on-line model-based control
,
non-linear control
,
nature inspired optimisation algorithms
,
robot system control
,
digital signal controller
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