20.500.12556/DKUM-84677 NURBS krivulje za opis premikanja robota Pepper diplomsko delo NURBS splines to describe the movement of the Pepper robot Diplomsko delo zajema opis humanoidnega robota Pepper, ki smo ga vodili po poti oblike NURBS krivulje. NURBS krivuljo smo generirali s programom, ki smo ga napisali v programskem jeziku Python 2.7 in knjižnico NURBS-Python. Diplomsko delo vsebuje tudi matematičen opis NURBS krivulj in opis programa, ki smo ga napisali za izračun tangencialnih in kotnih hitrost potrebnih za sledenje robota načrtovani poti. Na koncu smo sledenje robota načrtovani poti z izračunanimi hitrostmi testirali in po opravljenih več poskusih z različnimi vhodnimi podatki analizirali odstopanja, ki se pojavijo in jim poskušali določiti vzroke. The thesis covers the description of the humanoid robot Pepper, which we guided along a path defined by a NURBS curve. We generated the NURBS curve using a program we wrote in the Python 2.7 programming language and the NURBS-Python library. The thesis also includes a mathematical description of NURBS curves and a description of the program we developed to calculate the tangential and angular velocities required for the robot to follow the planned path. Finally, we tested the robot's tracking of the planned path with the calculated velocities and, after conducting several experiments with different input data, analyzed the deviations that occurred, attempting to determine their causes. Robot Pepper NURBS krivulje preračun hitrosti Robot Pepper NURBS-splines velocity calculations true true false [S. Kokotovič] Slovenski jezik Angleški jezik Diplomsko delo/naloga 2023-07-07 16:03:38 2024-02-28 12:46:49 2024-03-19 03:26:42 0000-00-00 00:00:00 2023 0 Maribor 0 Maribor 1 spletni vir (1 datoteka PDF (X, 65 f.)) 0000-00-00 NiDoloceno NiDoloceno NiDoloceno 0000-00-00 0000-00-00 0000-00-00 681.587.72(043.2) 189310979 UN_Kokotovic_Stas_2023.pdf UN_Kokotovic_Stas_2023.pdf 1 C67511677B8E0ADB09891AAA2582BABA 7ad6ccc6148ea456287afe8894976015eba8f80805c6d6462d9cad99c6df2ca0 ea1a43d0-4295-11ee-ac23-00155d000105 https://dk.um.si/Dokument.php?lang=slv&id=170322 Fakulteta za strojništvo 0 0 0