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Impedančno vodenje robotskega eksoskeleta roke : zaključna naloga Univerzitetnega študijskega programa I. stopnje Strojništvo - Razvojno raziskovalni programTušek Oklobdžija, LaraZa uspešno interakcijo robotskega eksoskeleta s človekom je potrebno poleg togosti strukture zagotoviti tudi ustrezno podajnost v sklepih eksoskeleta. Slednje je mogoče implementirati z impedančnim ... vodenjem eksoskeleta, za kar je potreben servo motor z možnostjo krmiljenja navora. V zaključni nalogi je predstavljena implementacija impedančnega vodenja robotskega eksoskeleta roke. V prvem delu naloge smo podali pregled relevantne literature s področja robotskih eksoskeletov. V nadaljevanju smo predstavili robotski eksoskelet EduExo Pro. Le-ta je služil kot izhodišče za implementacijo impedančnega vodenja, ki je zajemala razvoj sistema mehanskih in elektronskih komponent, potrebnih za vključitev servo motorja z možnostjo krmiljenja navora v eksoskelet, ter razvoj programske kode. Z meritvami zunanje kinematike smo primerjali pozicijsko voden servo motor s servo motorjem, katerega navor lahko krmilimo, in ugotovili, da je servo motor z možnostjo krmiljenja navora natančnejši ter zagotavlja boljšo ponovljivost kot servo motor, ki je lahko voden le pozicijsko.Type of material - undergraduate thesis ; adult, seriousPublication and manufacture - Ljubljana : [L. Tušek Oklobdžija], 2024Language - slovenianCOBISS.SI-ID - 203055363
Author
Tušek Oklobdžija, Lara
Other authors
Vrabič, Rok |
Babič, Jan
Topics
robotski eksoskeleti |
aktuatorji |
vodenje |
podajnost |
natančnost |
ponovljivost |
robotic exoskeletons |
actuators |
control |
compliance |
accuracy |
repeatability
Library/institution |
City | Acronym | For loan | Other holdings |
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Faculty of Mechanical Engineering, Ljubljana | Ljubljana | FSLJ |
reading room 1 cop.
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Year | Impact factor | Edition | Category | Classification | ||||
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JCR | SNIP | JCR | SNIP | JCR | SNIP | JCR | SNIP |
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Database name | Field | Year |
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Links to authors' personal bibliographies | Links to information on researchers in the SICRIS system |
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Tušek Oklobdžija, Lara | |
Vrabič, Rok | 30914 |
Babič, Jan | 20216 |
Source: Personal bibliographies
and: SICRIS
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