Automatizirano upravljanje elektrohidrauličkim robotskim manipulatorom

master's thesis

• Title (english): Automated control of an electro-hydraulic robotic manipulator
• Author: Dalibor Žgela
• Mentor: Željko Šitum (mentor)
• Granter: University of Zagreb; Faculty of Mechanical Engineering and Naval Architecture; Zagreb
• Defense date and country: 2018-12-06, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Mechanical Engineering

Abstract

Elektrohidraulički robotski manipulator (EHROM) predstavlja složen, multivarijabilni sustav s tri stupnja slobode gibanja i hidraulički aktuiranom prihvatnicom, namijenjen manipulaciji predmeta velikih masa do 200 kg. Tri stupnja slobode gibanja čine rotacija postolja, rotacija dijela ruke s translacijskim članom te sama translacija ruke manipulatora, koji su također hidraulički aktuirani. Cilj ovog rada je izraditi upravljački sustav koji će omogućiti pamćenje željenih točaka manipulatora te provođenje automatiziranog gibanja prema njima. Provedena je analiza mjernih komponenti stupnjeva slobode gibanja kojima je manipulator opremljen te je predložen i realiziran način akvizicije vrijednosti senzora. Izrađena je aplikacija za tablet uređaj koja omogućuje bežično upravljanje manipulatorom, memoriranje željenih točaka i njihovih postavki te provođenje automatskog gibanja i praćenje dijagrama stanja senzora. Nadalje, osmišljen je nelinearni regulator primjenjiv za sva tri stupnja slobode gibanja te su provedene simulacije odziva sustava. Na kraju su predstavljeni eksperimentalni rezultati automatiziranog upravljanja sustavom s predloženim regulatorom.

Abstract (english)

Electro-hydraulic robotic manipulator (EHROM) represents a complex, multivariable system with three degrees of freedom and hydraulically actuated gripper, designed for manipulation of heavy objects weighing up to 200 kg. Three degrees of freedom are comprised of the rotation of the entire arm, rotation of the extendable arm and the linear movement of the extendable arm. The purpose of this paper is to design a control system that will provide the user with the option to save the desired points of the manipulator and conduct automatized movement of the manipulator accordingly. Analysis of the sensory part of all degrees of freedom of the system has been conducted and a method for the sensor data acquisition has been suggested and implemented. A tablet device app has been designed that enables the operator to wirelessly control the manipulator, save desired points of movement of the manipulator and to conduct the automatic control of the manipulator along with the option of observing the state of the sensors through live diagrams. Furthermore, a nonlinear regulator applicable to all three degrees of freedom has been designed and simulations of the movement of the manipulator were conducted. At the end, experimental results of the accomplished automatized control of the manipulator were presented.

• Keywords: robotski manipulator; automatizirano upravljanje; bežično upravljanje tablet uređajem; hidraulika
• Keywords (english): robotic manipulator; automatized control; wireless control using a tablet; hydraulics
• Language: croatian
• URN:NBN: urn:nbn:hr:235:364984
• Study programme: Title: Mechanical Engineering; Study programme type: university; Study level: graduate; Academic / professional title: magistar/magistra inženjer/inženjerka strojarstva (magistar/magistra inženjer/inženjerka strojarstva)
• Type of resource: Text
• File origin: Born digital
• Access conditions: Open access
• Created on: 2019-05-24 12:59:08