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master's thesis
Modeliranje inverzne kinematike robotskog manipulatora primjenom metoda umjetne inteligencije
2020. urn:nbn:hr:190:564704
Klen, Valentin
University of Rijeka
Faculty of Engineering
Department of Automation and Electronics
Section of Electronics, Robotics and Automation

Cite this document

Klen, V. (2020). Modeliranje inverzne kinematike robotskog manipulatora primjenom metoda umjetne inteligencije (Master's thesis). Rijeka: University of Rijeka, Faculty of Engineering. Retrieved from https://urn.nsk.hr/urn:nbn:hr:190:564704

Klen, Valentin. "Modeliranje inverzne kinematike robotskog manipulatora primjenom metoda umjetne inteligencije." Master's thesis, University of Rijeka, Faculty of Engineering, 2020. https://urn.nsk.hr/urn:nbn:hr:190:564704

Klen, Valentin. "Modeliranje inverzne kinematike robotskog manipulatora primjenom metoda umjetne inteligencije." Master's thesis, University of Rijeka, Faculty of Engineering, 2020. https://urn.nsk.hr/urn:nbn:hr:190:564704

Klen, V. (2020). 'Modeliranje inverzne kinematike robotskog manipulatora primjenom metoda umjetne inteligencije', Master's thesis, University of Rijeka, Faculty of Engineering, accessed 06 November 2024, https://urn.nsk.hr/urn:nbn:hr:190:564704

Klen V. Modeliranje inverzne kinematike robotskog manipulatora primjenom metoda umjetne inteligencije [Master's thesis]. Rijeka: University of Rijeka, Faculty of Engineering; 2020 [cited 2024 November 06] Available at: https://urn.nsk.hr/urn:nbn:hr:190:564704

V. Klen, "Modeliranje inverzne kinematike robotskog manipulatora primjenom metoda umjetne inteligencije", Master's thesis, University of Rijeka, Faculty of Engineering, Rijeka, 2020. Available at: https://urn.nsk.hr/urn:nbn:hr:190:564704

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Metadata
TitleModeliranje inverzne kinematike robotskog manipulatora primjenom metoda umjetne inteligencije
Title (english)Modelling inverse kinematics of a robotic manipulator through the use of artificial intelligence methods
AuthorValentin Klen
MentorZlatan Car (mentor)
Committee memberAlfredo Višković (predsjednik povjerenstva)
Committee memberZlatan Car (član povjerenstva)
Committee memberRene Prenc (član povjerenstva)
GranterUniversity of Rijeka
Faculty of Engineering
(Department of Automation and Electronics)
(Section of Electronics, Robotics and Automation)
Rijeka
Defense date and country2020-09-22, Croatia
Scientific / art field,
discipline and subdiscipline		TECHNICAL SCIENCES
Electrical Engineering
Abstract
Diplomski rad bavi se problemom modeliranja inverzne kinematike robotskog manipulatora primjenom metoda umjetne inteligencije. Prije samog rješavanja zadatka u radu je opisan uvod u robotiku, robotika kao znanost, tipovi robota, postojeće metode kinematike robota, korišteni robotski manipulator ABB IRB 120, korišteni programi za rješavanje zadatka diplomskog rada (RobotStudio, Anaconda Navigator, Spyder), zatim neuronska mreža i korišteni model neuronske mreže te samo rješavanje zadatka koji je podijeljen na dva dijela. Prvi dio zadatka odnosi se na prikupljanje skupa podataka za treniranje i testiranje neuronske mreže dok se drugi dio zadatka odnosi na modeliranje inverzne kinematike korištenjem neuronske mreže i podataka generiranih iz prvog dijela zadatka. Na kraju rada uspoređene su predviđene i stvarne vrijednosti.
Abstract (english)
This graduate thesis deals with the problem of modeling the inverse kinematics of a robotic manipulator by using the method of artificial intelligence. Before solving the task, the thesis describes the introduction to robotics, robotics as a science, types of robots, existing methods of robot kinematics, used robotic manipulator ABB IRB 120, used programs for solving the thesis (RobotStudio, Anaconda Navigator, Spyder), neural network and the used neural network model and finally, the solution of the task which is divided into two parts. The first part of the task refers to the collection of data sets for training and testing neural networks, while the second part of the task refers to modeling the inverse kinematics by using neural network and data generated from the first part of the task. At the end of this thesis predicted and actual values are compared.
Keywords
Keywords (english)
Languagecroatian
URN:NBNurn:nbn:hr:190:564704
Study programmeTitle: Graduate University Study of Electrical Engineering
Study programme type: university
Study level: graduate
Academic / professional title: magistar/magistra inženjer/inženjerka elektrotehnike (magistar/magistra inženjer/inženjerka elektrotehnike)
Type of resourceText
File originBorn digital
Access conditionsAccess restricted to students and staff of home institution
Terms of useLicence In copyright icon
Created on2021-09-15 12:36:38