20.500.12556/RUL-178425 Simulator električnega invalidskega vozička z uporabo Stewartove ploščadi in navidezne resničnosti Electric wheelchair simulator using Stewart platform and virtual reality V tem magistrskem delu je predstavljena zasnova, implementacija in eksperimentalna evalvacija simulatorja elektromotornega invalidskega vozička, ki združuje dinamično modeliranje, realnočasovno vodenje in tridimenzionalno virtualno okolje. Simulator povezuje fizikalno utemeljen model vzmetenja s sistemom gibanja Stewartove poščadi, kar omogoča realistično poustvarjanje odzivov el. vozička na vsakodnevne ovire, kot so klančine, stopnice in neravne površine. Realnočasovno izvajanje je zagotovljeno z uporabo okolja Beckhoff TwinCAT 3, pri čemer vodenje in izmenjavo parametrov omogoča komunikacija po protokolu TwinCAT ADS. Virtualni prostor, razvit v okolju Unity, zagotavlja poglobljeno in prilagodljivo okolje za generiranje ponovljivih profilov terena in morebitnih interakcijskih scenarijev. Model vzmetenja vozička, prirejen po modelu avtomobilskega vzmetenja (četrtinski, polovični, celotni model), je bil ustvarjen in večstopenjsko analiziran v okolju Simulink. Preizkus simulatorja je bil izveden s tremi testnimi osebami, ki so simulator upravljale pod enakimi pogoji. Za oceno realističnosti in uporabniško pogojenega obnašanja sistema so bili analizirani kazalniki delovanja, kot so lateralni odmik od idealne poti, navpični odziv vzmetene mase ter uporabniška izkušnja testiranih oseb. Rezultati prikazujejo dinamične odzive, razlike v načinu in stabilnosti vožnje med udeleženci, kjer smo se osredotočili na delovanje simulatorja. Končna zasnova simulatorja predstavlja ugoden sistem za preučevanje dinamike invalidskih vozičkov, interakcije med uporabnikom in sistemom ter razvoj strategij vodenja, obenem pa ponuja potencial za prihodnje aplikacije na področju usposabljanja uporabnikov in rehabilitacijskih raziskav. In the following master’s thesis the design, implementation, and experimental evaluation of an electric wheelchair simulator that integrates dynamic modeling, real-time control and a three-dimensional virtual environment, is presented. The simulator combines a physics-based suspension model with a Stewart platform motion system, enabling realistic reproduction of the electric wheelchair’s responses to everyday obstacles such as ramps, steps, and uneven surfaces. Real-time execution is achieved using the Beckhoff TwinCAT 3 environment, where control and parameter exchange are enabled through communication based on the TwinCAT ADS protocol. The virtual environment, developed in Unity, provides an immersive and flexible space for generating repeatable terrain profiles and potential interaction scenarios. The wheelchair suspension model, adapted from automotive suspension models (quarter-car, half-car, full-car model), was developed and subjected to multi-stage analysis in the Simulink environment. The simulator was operationally tested through experiments involving three test subjects who operated the system under identical conditions. To assess fidelity and user-dependent behavior of the system, performance indicators such as lateral deviation from the ideal path, vertical response of the sprung mass, and the user experience of the test subjects were analyzed. The results demonstrate realistic dynamic responses and reveal differences in driving behavior and stability among participants, with a focus on the performance of the simulator. The final simulator design represents a reliable concept for investigating wheelchair dynamics, user–system interaction, and control strategy development, while also offering potential for future applications in user training and rehabilitation research. robot simulacija invalidski voziček Simulink Unity Beckhoff TwinCAT Stewartova ploščad robot simulation wheelchair Simulink Unity Beckhoff TwinCAT Stewart platform true false false Slovenski jezik Angleški jezik Magistrsko delo/naloga 2026-01-27 14:40:02 2026-01-27 14:40:12 2026-02-03 14:06:57 0000-00-00 00:00:00 2026 0 0 0000-00-00 NiDoloceno NiDoloceno NiDoloceno 0000-00-00 0000-00-00 0000-00-00 62987 267175427 Spoljar_dezjot_Nick_-_Simulator_elektricnega_invalidskega_vozicka_z_uporabo_Stewartove_ploscadi_.pdf Spoljar_dezjot_Nick_-_Simulator_elektricnega_invalidskega_vozicka_z_uporabo_Stewartove_ploscadi_.pdf 1 2A86D4BCAE3ADD1562BE7EE87B16C3F9 3b49c1dd7b2b8bbaa548d00fb62efb1bf014abbdd1b9156a986194f5e3e21407 b11496fb-fb85-11f0-a1ba-0050569b8976 https://repozitorij.uni-lj.si/Dokument.php?lang=slv&id=226281 Fakulteta za elektrotehniko 0 0 0