master's thesis
Self-balancing robot

Nemanja Plavšić (2016)
Sveučilište Josipa Jurja Strossmayera u Osijeku
Fakultet elektrotehnike, računarstva i informacijskih tehnologija Osijek
Zavod za komunikacije
Katedra za elektroniku i mikroelektroniku
Metadata
TitleSamobalansirajući robot
AuthorNemanja Plavšić
Mentor(s)Davor Vinko (thesis advisor)
Abstract
Ideja je bila izraditi samobalansirajući robot koji će preko Atmega32 mikrokontrolera komunicirati sa MPU6050 žiroskopom i akcelerometrom čije se vrijednosti šalju na PD regulator čiji se odziv šalje na aktuatore. Cilj zadatka je konstruirati robota i napisati čitav programski kod u C programskom jeziku. Potrebno je ostvariti komunikaciju sa MPU6050 te filtrirati dobivene signale komplementarnim filtrom. Zatim, realizirati PD regulator te podesiti parametre kako bi se dobilo željeno dinamičko vladanje. Za aktuatore je potrebno izraditi štampanu pločicu sa L293D čipom i napisati programski kod za kontrolu. Robot uspješno vrši balansiranje prema zamišljenom planu.
KeywordsSelf-balancing robot Atmega32 MPU6050 gyroscope accelerometer L293D Hbridge stepper motors PD controller complementary fi
Parallel title (English)Self-balancing robot
Committee MembersDavor Vinko (committee chairperson)
Vanja Mandrić Radivojević (committee member)
Ratko Grbić (committee member)
GranterSveučilište Josipa Jurja Strossmayera u Osijeku
Fakultet elektrotehnike, računarstva i informacijskih tehnologija Osijek
Lower level organizational unitsZavod za komunikacije
Katedra za elektroniku i mikroelektroniku
PlaceOsijek
StateCroatia
Scientific field, discipline, subdisciplineTECHNICAL SCIENCES
Electrical Engineering
Electronics
Study programme typeuniversity
Study levelgraduate
Study programmeGraduate University Study Programme in Computer Engineering
Academic title abbreviationmag.ing.comp.
Genremaster's thesis
Language Croatian
Defense date2016-07-12
Parallel abstract (English)
The idea was to build self-balancing robot which will communicate to MPU6050 gyroscope and accelerometer with Atmega32 microcontroller which values are then sent to PD controller whose output is sent to actuators. Main goal is to construct the robot and to write program code in C programming language. It is necessary to communicate with MPU6050 and filter the values with complementary filter. Furthermore it is needed to design PD controller and adjust the parametars to get desired dynamic behavior. Printed circuit board with L293D chips was needed for the actuators and to write a programing code forcontrol of the motors. Every goal that was defined in the beginning wasachieved and we have a stable and functional self-balancing robot.
Parallel keywords (Croatian)Samobalansirajući robot Atmega32 MPU6050 žiroskop akcelerometar L293D H-most koračni motori PD regulator komplementarni filtar
Resource typetext
Access conditionOpen access
Terms of usehttp://rightsstatements.org/vocab/InC/1.0/
URN:NBNhttps://urn.nsk.hr/urn:nbn:hr:200:094387
CommitterAnka Ovničević