Projektiranje i izrada robotskog sustava koji igra šah

master's thesis

• Title (english): Design and implementation of chess-playing robotic system
• Author: Matija Herceg-Rušec
• Mentor: Dubravko Majetić (mentor)
• Committee member: Dubravko Majetić (predsjednik povjerenstva)
• Committee member: Mladen Crneković (član povjerenstva)
• Committee member: Željko Šitum (član povjerenstva)
• Granter: University of Zagreb; Faculty of Mechanical Engineering and Naval Architecture; Zagreb
• Defense date and country: 2021-07-14, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Electrical Engineering; Automation and Robotics

Abstract

Ovaj diplomski rad prikazuje način rada i postupak izrade robotske ruke koja igra šah na bazi umjetne inteligencije. Prikazan je postupak odabira aktuatora i upravljačkih komponenti te sama konstrukcija robotske ruke i elektroničke šahovske ploče. Nakon konstrukcije i izrade, na temelju stvarnih dimenzija prikazana je inverzna kinematika, odnosno pretvorba željenih Kartezijevih koordinata u rotacijske pozicije zglobova robota. Napravljen je program za mikrokontroler koji će upravljati gibanjem robotske ruke te program koji će upravljati elektroničkom šahovskom pločom. Nakon što je fizički dio gotov, objašnjena je inteligencija koja će odlučivati o sljedećem šahovskom potezu robota. Prikazani su i objašnjeni načini na koje se može ostvariti odabir poteza te dobre i loše strane istih. Nakon toga je formiran algoritam za učenje neuronske mreže te prikazana primjena konačnog modela neuronske mreže. Na kraju je ukratko objašnjeno kreiranje mobilne aplikacije kojom će se upravljati postavkama robota. Tijekom izrade rada korišteni su programski paketi SolidWorks, MATLAB, Arduino, Android Studio, Python IDLE, Tensorflow.

Abstract (english)

This thesis presents the procedure of making a robotic arm that plays chess by artificial intelligence. The methods of selecting actuators and control components, construction of robotic arm and development of electronic chessboard are presented. After construction and fabrication, based on the actual dimensions, the inverse kinematics is shown, i.e. the conversion of Cartesian coordinates in the rotational positions of the robot joints. A program for a microcontroller that will control the movement of the robotic arm and a program that will control the electronic chessboard were created. Once the mechanical and electronical part is done, the intelligence that will decide the robot’s next chess move is explained. The ways in which the selection of moves is made and the pros and cons of every method are presented and explained. Then a neural network learning algorithm is formed and application of a final neural network model is presented. Finally, the process of creating mobile application that will manage robot settings is briefly explained. SolidWorks, MATLAB, Arduino, Android Studio, Python IDLE, Tensorflow software were used while working on the project.

• Keywords: šahovski robot; robotska ruka; šah; umjetna inteligencija
• Keywords (english): chess playing robot; robotic arm; chess; artificial intelligence
• Language: croatian
• URN:NBN: urn:nbn:hr:235:320747
• 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: 2021-07-05 17:43:10