20.500.12556/RUL-136990 Krmilnik učnega robota Rob3i na osnovi vgradne platforme Raspberry Pi Raspberry Pi-Based Robot Controller for the Rob3i Educational Robot Magistrsko delo opisuje implementacijo novega krmilnika za učni robot Rob3i. Motivacija za nov krmilnik je bila, da se prej nedelujoč robot povrne v funkcionalno stanje. Nov krmilnik je osnovan na Raspberry Pi verzije 3 in dvema krmilnima moduloma Gertbot. Ohranjeni so prvotni elektromotorji, senzorji in napetostni vir. Položaje sklepov merimo z A/D pretvorniki modulov Gertbot, ki digitalizirajo napetosti potenciometrov, vgrajenih v sklepe robota. Za hitrejše izvajanje regulacijske zanke je bila prilagojena komunikacija med Raspberry Pi in Gertbot. Algoritmi so implementirani v programskem jeziku Python in so prilagojeni za uporabo v školjki operacijskega sistema Linux. Uporabljeni so bili moduli Numpy, Scipy in OpenCV, nekatere funkcionalnosti pa so bile implementirane v školjki BASH. Lastnosti novega krmilnega algoritma so predstavljene z uporabo P, PD in PI regulatorjev. Izvedemo tudi krmiljenje z upoštevanjem nelinearne karakteristike napetosti in kotne hitrosti. Krmilnik omogoča premik vrha robota v ravni črti in sprotno shranjevanje izbranih spremenljivk v arhivsko datoteko. Zamenjane so poškodovane žice. Zaznamo merljive motnje, ki jih lahko programsko zadovoljivo izločimo. V bližino prijemala je bila pričvrščena kamera, usmerjena navzdol, proti ArUco plošči, nameščeni na delovno površino. Izkažejo se velika odstopanja med določitvijo lege preko direktne kinematike s tisto, določeno iz zajema kamere. Mehanska struktura robota kaže znake dotrajanosti, zato je priporočen celovit servis. In this thesis an implementation of a new driver for educational robot Rob3i is presented. Aim is to use hardware of a broken robot and make it functional once again. The new driver is based on Raspberry Pi version 3 and two Gertbot modules. Original motors, sensors and power supply are preserved. Joint angle measurements are obtained by using A/D converters which convert voltage from potentiometers which are mounted in joints of the robot to enable angular measurements. Sampling is done by Gertbot's A/D converters. To improve the control loop frequency, comunication between Gertbot and Raspbery Pi was adjusted. Control algorythms were implemented in Python with some features relying on BASH shell. Capabilities of the new controller were demonstrated with P, PD and PI controllers. Another control, that which took into the anccount the non-linear property of supply voltage and angular velocity was tested. The tested software allows linear movement of the gripper and saving the control signals into a log file. Some wires are replaced. Excess noise is present in the measurements, however it can be satisfactorily filtered by software. A digital camera is mounted near the gripper. Camera is facing down, towards an ArUco board that is mounted on the workspace. There are large differences detected when comparing the poses obtained from image processing to those of direct kinematics. Further maintainance is recomended on the robot.on the robot. Raspberry Pi Gertbot Python OpenCV ArUco Raspberry Pi Gertbot Python OpenCV ArUco true false false Slovenski jezik Angleški jezik Magistrsko delo/naloga 2022-05-27 11:35:11 2022-05-27 11:35:17 2022-09-15 04:14:33 0000-00-00 00:00:00 2022 0 0 0000-00-00 NiDoloceno NiDoloceno NiDoloceno 0000-00-00 0000-00-00 0000-00-00 1970-01-01 54261 109547267 Rojec_Luka_-_Krmilnik_ucnega_robota_Rob3i_na_osnovi_vgradne_platforme_Raspberry_Pi.pdf Rojec_Luka_-_Krmilnik_ucnega_robota_Rob3i_na_osnovi_vgradne_platforme_Raspberry_Pi.pdf 1 C0EA206CEE53F5DF013504A0DA351BFC ab548623b3cffb8c18cc2b6b3f7a0ad14d0a3400741f134be184fa1148c5fec1 2ede64e5-dda0-11ec-8aca-00155dcfd717 https://repozitorij.uni-lj.si/Dokument.php?lang=slv&id=156825 Fakulteta za elektrotehniko 0 0 0