Plezajoči robotski pajek

Sajko, Gal (avtor), Klančar, Gregor (mentor), Babič, Jan (komentor)

V sledeči magistrski nalogi smo predstavili postopek razvoja in izdelave ple- zajočega robota, ki ima konfiguracijo multipoda s petimi nogami. Naloga ro- bota je, da med plezanjem po zidu z vodo oskrbuje rastline. Osredotočili smo se predvsem na tiste elemente, ki so bolj zanimivi iz vidika robotike in vodenja sistemov. V času razvoja smo najprej razvili kinematični in dinamični model ro- bota in njegovih nog in algoritme za načrtovanja posameznih gibov in celotnega premika robota. Nato smo zasnovali regulator, ki je sposoben vodenja vseh pe- tih nog naenkrat, a neodvisno druga od druge in lahko deluje v treh različnih načinih: pozicijskemu, hitrostnemu in v načinu vodenja po sili. Na koncu smo vse elemente povezali v aplikacijo, ki smo jo implementirali v programskem jeziku Python.

• Jezik: Slovenski jezik
• Ključne besede: plezajoči robot, multipod, kinematika, dinamika, vodenje
• Vrsta gradiva: Magistrsko delo/naloga
• Tipologija: 2.09 - Magistrsko delo
• Organizacija: FE - Fakulteta za elektrotehniko
• Leto izida: 2023
• PID: 20.500.12556/RUL-146772
• COBISS.SI-ID: 156544259

Opomba

Prešernova nagrada, FE UL, 2023

• Datum objave v RUL: 13.06.2023

SAJKO, Gal, 2023, Plezajoči robotski pajek [na spletu]. Magistrsko delo. [Dostopano 3 maj 2025]. Pridobljeno s: https://repozitorij.uni-lj.si/IzpisGradiva.php?lang=slv&id=146772

Sekundarni jezik

• Jezik: Angleški jezik
• Naslov: A climbing robot spider

Izvleček

The present Master thesis introduces the design and production of a climbing robot with configuration of a five-legged multipod. This robot has been developed for watering plants while climbing the wall where plants were placed. Our focus has been mainly dedicated to those parts of the project, which in our belief are of significant importance in the fields of robotics and control theory. We have developed kinematics and dynamics models of the robot and its legs, algorithms for planning individual movements and movement of the robot in general, and a regulator for control of independent movements of all five of the robot’s legs simultaneously. The regulator enables manipulation over the robot’s motion in three different modes: via position control, via velocity control, and via force control. Last but not least, we have developed an application for controlling the robot’s motion based on aforementioned approaches, written in computer programming language Python.

• Ključne besede: climbing robot, multipod, kinematics, dynamics, control system