Razvoj samodejno vodenega vozička z vsesmernim programom

Hudoklin, Jure (author), Vrabič, Rok (mentor)

V diplomski nalogi je opisan problem načrtovanja, krmiljenja in testiranja robota z vsesmernim pogonom. Podrobneje sta opisana kinematika robota in njegovo krmiljenje. Opisana sta delovanje operacijskega sistema ROS in njegova uporaba za krmiljenje robota. Predstavljeno je načrtovanje vsesmernega robota od 3D modela, tiskanega vezja do celotnega programa. V zaključku naloge je opisan postopek določitve krmilnih parametrov robota.

• Language: Slovenian
• Keywords: zaključne naloge, operacijski sistem ROS, vsesmerna kolesa, PID krmiljenje, programski jezik C++, računalniški program AGV
• Work type: Final paper
• Typology: 2.11 - Undergraduate Thesis
• Organization: FS - Faculty of Mechanical Engineering
• Place of publishing: Ljubljana
• Publisher: [J. Hudoklin]
• Year: 2019
• Number of pages: XIV, 42 f., [3] f. pril.
• PID: 20.500.12556/RUL-108652
• UDC: 681.5:004.451.25(043.2)
• COBISS.SI-ID: 16712475
• Publication date in RUL: 11.07.2019

Secondary language

• Language: English
• Title: Design of an automatus guided vehicle with omnidirectional drive

Abstract

In this thesis the problem of design, control, and testing of a robot with omnidirectional drive is presented. Kinematics of the robot are detailed, as well as the means for its control. The workings of Robot Operating System (ROS) are shown and the use of ROS for the control of the robot is illustrated. It is shown how the robot was designed. The design of the 3D model, the printed circuit board, as well as the control program are described in detail. In the end the process of setting the control parameters for the robot is shown.

• Keywords: final thesis, operational system ROS, omnidirectional wheels, PID control, programming language C++, computer program AGV