Dinamika SCARA manipulatora
Svrha ovog završnog rada je izvod matematičkog modela dinamičkog ponašanja SCARA manipulatora te njegova implementacija u vidu računalnog programa. Osim dinamike potrebno je opisati i kinematiku manipulatora. Prvenstveno je opisan sami manipulator SCARA, nakon toga riješen je direktan problem kinema...
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Sveučilište u Zagrebu. Fakultet strojarstva i brodogradnje.
2023
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Online Access: | https://zir.nsk.hr/islandora/object/fsb:9040 https://urn.nsk.hr/urn:nbn:hr:235:886689 https://repozitorij.unizg.hr/islandora/object/fsb:9040 https://repozitorij.unizg.hr/islandora/object/fsb:9040/datastream/PDF |
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ftnulzagrebzir:oai:zir.nsk.hr:fsb_9040 2023-08-27T04:11:48+02:00 Dinamika SCARA manipulatora SCARA manipulator dynamics Biloš, Mateo Jokić, Marko 2023-03-02 application/pdf https://zir.nsk.hr/islandora/object/fsb:9040 https://urn.nsk.hr/urn:nbn:hr:235:886689 https://repozitorij.unizg.hr/islandora/object/fsb:9040 https://repozitorij.unizg.hr/islandora/object/fsb:9040/datastream/PDF hrv hrv Sveučilište u Zagrebu. Fakultet strojarstva i brodogradnje. University of Zagreb. Faculty of Mechanical Engineering and Naval Architecture. https://zir.nsk.hr/islandora/object/fsb:9040 https://urn.nsk.hr/urn:nbn:hr:235:886689 https://repozitorij.unizg.hr/islandora/object/fsb:9040 https://repozitorij.unizg.hr/islandora/object/fsb:9040/datastream/PDF http://rightsstatements.org/vocab/InC/1.0/ info:eu-repo/semantics/openAccess TEHNIČKE ZNANOSTI. Strojarstvo TECHNICAL SCIENCES. Mechanical Engineering SCARA manipulator direktan problem dinamike direktan problem kinematike Euler-Langrange metoda kinematics dynamic Euler-Langrange info:eu-repo/semantics/bachelorThesis other 2023 ftnulzagrebzir 2023-08-03T16:27:32Z Svrha ovog završnog rada je izvod matematičkog modela dinamičkog ponašanja SCARA manipulatora te njegova implementacija u vidu računalnog programa. Osim dinamike potrebno je opisati i kinematiku manipulatora. Prvenstveno je opisan sami manipulator SCARA, nakon toga riješen je direktan problem kinematike za manipulator korištenjem matrica homogenih transformacija. Nakon toga izvedene su jednadžbe gibanja, odnosno riješen problem direktne dinamike manipulatora pomoću Euler-Langrange metode. Sama dinamika zapisana je matrično, te je za nju zapisan najjednostavniji zapis u svrhu što manjeg broja matematičkih operacija. The purpose of this final paper is the derivation of a mathematical model of the dynamic behavior of the SCARA manipulator and its implementation in the form of a computer program. In addition to the dynamics, it is also necessary to describe the kinematics of the manipulator. First of all, the SCARA manipulator itself is described, after which the direct problem of kinematics for the manipulator is solved using matrices of homogeneous transformations. After that, the equations of motion were derived, that is, the problem of the direct dynamics of the manipulator was solved using the Euler-Langrange method. The dynamics itself is written in a matrix in simplest notation for it in order to reduce the number of mathematical operations. Bachelor Thesis sami Croatian Digital Theses Repository (National and University Library in Zagreb) |
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Open Polar |
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Croatian Digital Theses Repository (National and University Library in Zagreb) |
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ftnulzagrebzir |
language |
Croatian |
topic |
TEHNIČKE ZNANOSTI. Strojarstvo TECHNICAL SCIENCES. Mechanical Engineering SCARA manipulator direktan problem dinamike direktan problem kinematike Euler-Langrange metoda kinematics dynamic Euler-Langrange |
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TEHNIČKE ZNANOSTI. Strojarstvo TECHNICAL SCIENCES. Mechanical Engineering SCARA manipulator direktan problem dinamike direktan problem kinematike Euler-Langrange metoda kinematics dynamic Euler-Langrange Biloš, Mateo Dinamika SCARA manipulatora |
topic_facet |
TEHNIČKE ZNANOSTI. Strojarstvo TECHNICAL SCIENCES. Mechanical Engineering SCARA manipulator direktan problem dinamike direktan problem kinematike Euler-Langrange metoda kinematics dynamic Euler-Langrange |
description |
Svrha ovog završnog rada je izvod matematičkog modela dinamičkog ponašanja SCARA manipulatora te njegova implementacija u vidu računalnog programa. Osim dinamike potrebno je opisati i kinematiku manipulatora. Prvenstveno je opisan sami manipulator SCARA, nakon toga riješen je direktan problem kinematike za manipulator korištenjem matrica homogenih transformacija. Nakon toga izvedene su jednadžbe gibanja, odnosno riješen problem direktne dinamike manipulatora pomoću Euler-Langrange metode. Sama dinamika zapisana je matrično, te je za nju zapisan najjednostavniji zapis u svrhu što manjeg broja matematičkih operacija. The purpose of this final paper is the derivation of a mathematical model of the dynamic behavior of the SCARA manipulator and its implementation in the form of a computer program. In addition to the dynamics, it is also necessary to describe the kinematics of the manipulator. First of all, the SCARA manipulator itself is described, after which the direct problem of kinematics for the manipulator is solved using matrices of homogeneous transformations. After that, the equations of motion were derived, that is, the problem of the direct dynamics of the manipulator was solved using the Euler-Langrange method. The dynamics itself is written in a matrix in simplest notation for it in order to reduce the number of mathematical operations. |
author2 |
Jokić, Marko |
format |
Bachelor Thesis |
author |
Biloš, Mateo |
author_facet |
Biloš, Mateo |
author_sort |
Biloš, Mateo |
title |
Dinamika SCARA manipulatora |
title_short |
Dinamika SCARA manipulatora |
title_full |
Dinamika SCARA manipulatora |
title_fullStr |
Dinamika SCARA manipulatora |
title_full_unstemmed |
Dinamika SCARA manipulatora |
title_sort |
dinamika scara manipulatora |
publisher |
Sveučilište u Zagrebu. Fakultet strojarstva i brodogradnje. |
publishDate |
2023 |
url |
https://zir.nsk.hr/islandora/object/fsb:9040 https://urn.nsk.hr/urn:nbn:hr:235:886689 https://repozitorij.unizg.hr/islandora/object/fsb:9040 https://repozitorij.unizg.hr/islandora/object/fsb:9040/datastream/PDF |
genre |
sami |
genre_facet |
sami |
op_relation |
https://zir.nsk.hr/islandora/object/fsb:9040 https://urn.nsk.hr/urn:nbn:hr:235:886689 https://repozitorij.unizg.hr/islandora/object/fsb:9040 https://repozitorij.unizg.hr/islandora/object/fsb:9040/datastream/PDF |
op_rights |
http://rightsstatements.org/vocab/InC/1.0/ info:eu-repo/semantics/openAccess |
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1775355007268290560 |