Napredno modelovanje složenih robotskih sistema i mehanizama i primena modernih zakona upravljanja
Advanced modeling of complex robotic systems and mechanisms and applications of modern control theory
2019
Аутори
Mandić, PetarОстала ауторства
Lazarević, MihailoObradović, Aleksandar
Mitrović, Zoran
Jovanović, Radiša
Sekara, Tomislav B.
Докторска теза (Објављена верзија)
Метаподаци
Приказ свих података о документуАпстракт
Predmet istraživanja ove doktorske disertacije jeste modelovanje i upravljanje mehaničkih sistema, sa posebnim akcentom na robotske sisteme tipa otvorenog kinematičkog lanca. Pri formiranju matematičkog modela robota korišćen je tzv. Rodrigov pristup, koji je posebno pogodan za primenu na računaru i automatsko formiranje diferencijalnih jednačina kretanja sistema. Za opisivanje disipativnih sila koje se javljaju u zglobovima robotskih segmenata pri kretanju sistema, uvodi se model trenja frakcionog tipa koji predstavlja generalizaciju standardnog modela...
The main research topics of this doctoral dissertation are modeling and control of mechanical systems, with special emphasis on robotic systems with open-chain structure. The so-called Rodriquez’s approach, which is well suited for usage on a computer and for automatic derivation of differential equations of motion, has been used for obtaining mathematical model of robot. In order to define more accurately dissipative forces occurring in robot joints when the system is in motion, a fractional order friction model, which represents a generalization of the standard model, has been introduced...
Кључне речи:
upravljanje sistema / robustnost / robotski sistemi / PID regulator / modelovanje mehaničkih sistema / metoda D-razlaganja / metoda dominantnog podešavanja polova / inverzno klatno / frakcioni račun / frakcioni PID regulator / dinamika robota / robustness / robotic systems / robot dynamics / PID controller / modeling of mechanical systems / inverted pendulum / fractional PID controller / fractional calculus / dominant pole placement / D-decomposition method / control systemsИзвор:
2019Издавач:
- Univerzitet u Beogradu, Mašinski fakultet
Финансирање / пројекти:
- Интелигентни системи управљања климатизације у циљу постизања енергетски ефикасних режима у сложеним условима експлоатације (RS-MESTD-Technological Development (TD or TR)-33047)
URI
http://eteze.bg.ac.rs/application/showtheses?thesesId=6908https://nardus.mpn.gov.rs/handle/123456789/11514
https://fedorabg.bg.ac.rs/fedora/get/o:20244/bdef:Content/download
http://vbs.rs/scripts/cobiss?command=DISPLAY&base=70036&RID=51652623
https://machinery.mas.bg.ac.rs/handle/123456789/69
Колекције
Институција/група
Mašinski fakultetTY - THES AU - Mandić, Petar PY - 2019 UR - http://eteze.bg.ac.rs/application/showtheses?thesesId=6908 UR - https://nardus.mpn.gov.rs/handle/123456789/11514 UR - https://fedorabg.bg.ac.rs/fedora/get/o:20244/bdef:Content/download UR - http://vbs.rs/scripts/cobiss?command=DISPLAY&base=70036&RID=51652623 UR - https://machinery.mas.bg.ac.rs/handle/123456789/69 AB - Predmet istraživanja ove doktorske disertacije jeste modelovanje i upravljanje mehaničkih sistema, sa posebnim akcentom na robotske sisteme tipa otvorenog kinematičkog lanca. Pri formiranju matematičkog modela robota korišćen je tzv. Rodrigov pristup, koji je posebno pogodan za primenu na računaru i automatsko formiranje diferencijalnih jednačina kretanja sistema. Za opisivanje disipativnih sila koje se javljaju u zglobovima robotskih segmenata pri kretanju sistema, uvodi se model trenja frakcionog tipa koji predstavlja generalizaciju standardnog modela... AB - The main research topics of this doctoral dissertation are modeling and control of mechanical systems, with special emphasis on robotic systems with open-chain structure. The so-called Rodriquez’s approach, which is well suited for usage on a computer and for automatic derivation of differential equations of motion, has been used for obtaining mathematical model of robot. In order to define more accurately dissipative forces occurring in robot joints when the system is in motion, a fractional order friction model, which represents a generalization of the standard model, has been introduced... PB - Univerzitet u Beogradu, Mašinski fakultet T1 - Napredno modelovanje složenih robotskih sistema i mehanizama i primena modernih zakona upravljanja T1 - Advanced modeling of complex robotic systems and mechanisms and applications of modern control theory UR - https://hdl.handle.net/21.15107/rcub_nardus_11514 ER -
@phdthesis{ author = "Mandić, Petar", year = "2019", abstract = "Predmet istraživanja ove doktorske disertacije jeste modelovanje i upravljanje mehaničkih sistema, sa posebnim akcentom na robotske sisteme tipa otvorenog kinematičkog lanca. Pri formiranju matematičkog modela robota korišćen je tzv. Rodrigov pristup, koji je posebno pogodan za primenu na računaru i automatsko formiranje diferencijalnih jednačina kretanja sistema. Za opisivanje disipativnih sila koje se javljaju u zglobovima robotskih segmenata pri kretanju sistema, uvodi se model trenja frakcionog tipa koji predstavlja generalizaciju standardnog modela..., The main research topics of this doctoral dissertation are modeling and control of mechanical systems, with special emphasis on robotic systems with open-chain structure. The so-called Rodriquez’s approach, which is well suited for usage on a computer and for automatic derivation of differential equations of motion, has been used for obtaining mathematical model of robot. In order to define more accurately dissipative forces occurring in robot joints when the system is in motion, a fractional order friction model, which represents a generalization of the standard model, has been introduced...", publisher = "Univerzitet u Beogradu, Mašinski fakultet", title = "Napredno modelovanje složenih robotskih sistema i mehanizama i primena modernih zakona upravljanja, Advanced modeling of complex robotic systems and mechanisms and applications of modern control theory", url = "https://hdl.handle.net/21.15107/rcub_nardus_11514" }
Mandić, P.. (2019). Napredno modelovanje složenih robotskih sistema i mehanizama i primena modernih zakona upravljanja. Univerzitet u Beogradu, Mašinski fakultet.. https://hdl.handle.net/21.15107/rcub_nardus_11514
Mandić P. Napredno modelovanje složenih robotskih sistema i mehanizama i primena modernih zakona upravljanja. 2019;. https://hdl.handle.net/21.15107/rcub_nardus_11514 .
Mandić, Petar, "Napredno modelovanje složenih robotskih sistema i mehanizama i primena modernih zakona upravljanja" (2019), https://hdl.handle.net/21.15107/rcub_nardus_11514 .