Sigurnosni robotski sustav za kretanje po vertikalnim površinama

master's thesis

• Title (english): Safety robotic system for motion on vertical surfaces
• Author: Patrik Putanec
• Mentor: Marko Švaco (mentor)
• Granter: University of Zagreb; Faculty of Mechanical Engineering and Naval Architecture; Zagreb
• Defense date and country: 2023-07-20, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Mechanical Engineering

Abstract

U ovom radu napravljena je nadogradnja postojećeg prototipa sigurnosnog robota penjača. Nadogradnja uključuje kompletnu izradu i integraciju periferne elektronike na robota penjača (senzori, mikroupravljač, radio modul), izradu programskog koda za praćenje senzora i implementaciju upravljačkog algoritma. Za upravljanje pozicijom robota odabrana je kaskadna struktura sa PI regulatorom brzine vrtnje kotača i P regulatorom položaja, za koje su izračunati parametri prema optimumu dvostrukog odnosa. Izrađeno je i implementirano programsko rješenje za sinkronizaciju gibanja četiri sigurnosna robota penjača, te rješenje za akviziciju mjerenja sa senzora na Teensy 4.0 mikroupravljač. Upravljački algoritmi su verificirani uz pomoć OptiTrack sustava kamera za praćenje pozicije objekata u prostoru. Konačno, identificirana su konstrukcijska rješenja na robotu koja uzrokuju smanjenu točnost praćenja položaja preko enkodera kotača i senzora optičkog pomaka.

Abstract (english)

Within this master thesis an upgrade was made on the existing column-climbing safety-robot-system prototype. The upgrade includes complete incorporation of electronics (sensors, microcontroller, radio module), creation of program code for acquisition of sensor values and the implementation of a control algorithm. For controlling the robot's position, a cascade control system containing PI speed controller and P position controller was chosen. Their parameters were calculated by means of Double Ratios Optimum. A program solution for synchronizing the movement of four column-climbing safety-robots was created and implemented, as well as a solution for sensor acquisition on a Teensy 4.0 microcontroller. Control algorithms were verified by means of OptiTrack optical motion capture system. Lastly, several construction features which reduce the measured position accuracy of the encoder and optical-flow sensor were identified.

• Keywords: mobilni robot; robot penjač; regulator položaja; regulator brzine; kaskadna regulacija; OptiTrack
• Keywords (english): Mobile robot; climbing robot; position controller; speed controller; cascade control system; OptiTrack
• Language: croatian
• URN:NBN: urn:nbn:hr:235:605413
• 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: 2023-07-17 11:07:11