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Integriran robotski krmilnik na osnovi mikrokrmilnika ATmega32U4
Nanut, Adam (Author), Vrabič, Rok (Mentor) More about this mentor... This link opens in a new window

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Abstract
V diplomski nalogi je predstavljen razvoj integriranega robotskega krmilnika na osnovi mikrokrmilnika ATmega32U4. Za načrtovanje in programiranje tiskanega vezja sta uporabljena programska paketa KiCad EDA in Arduino IDE. Sprva obravnavamo teoretične osnove robotskih krmilnikov in postopek načrtovanja ter izdelave tiskanih vezij. V nadaljevanju so opisane uporabljene komponente in njihova interakcija: komunikacija mikrokrmilnika z modulom za brezžično povezljivost in inercialno merilno enoto, krmiljenje DC elektromotorjev potom gonilnika in sistem za upravljanje signalov iz rotacijskih kodirnikov. Nazadnje je delovanje plošče dokazano s krmiljenjem robotske baze za sledenje črte, pri čemer hitrost nastavljamo brezžično iz spletne strani namensko izdelanega strežnika.

Language:Slovenian
Keywords:robotski krmilniki, mikrokrmilniki, robotika, tiskana vezja, Arduino
Work type:Bachelor thesis/paper (mb11)
Tipology:2.11 - Undergraduate Thesis
Organization:FS - Faculty of Mechanical Engineering
Year:2019
Publisher:[A. Nanut]
Number of pages:XXII, 59 str.
UDC:004.451.25:007.52(043.2)
COBISS.SI-ID:16877595 Link is opened in a new window
Views:314
Downloads:162
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Secondary language

Language:English
Title:An integrated robot controller based on ATmega32U4 microcontroller
Abstract:
The thesis presents the development of an integrated robot controller based on the ATmega32U4 microcontroller. KiCad EDA and Arduino IDE software packages are used for the design and programming of the PCB. Initially, we discuss the theoretical basics of robotic controllers and the process of designing and manufacturing printed circuit boards. Then, the components used and their interaction are described: communication of the microcontroller with the wireless connectivity module and inertial measurement unit, control of the DC electric motors with a H bridge driver and the system for managing signals from rotary encoders. Finally, the board's performance is proven by controlling a line follower robotic base, setting the speed wirelessly from the web site of a purpose-built server.

Keywords:robotic controllers, microcontrollers, robotics, printed circuit boards, Arduino

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