20.500.12556/DKUM-94670 Načrtovanje in izvedba agilnega dvokolesnega mobilnega robota z gibljivim zgornjim trupom Design and implementation of an agile two-wheeled mobile robot with an articulated upper body V magistrskem delu je obravnavan razvoj in izdelava dvokolesnega robota, sposobnega samouravnoteževanja, vožnje po neravnem terenu ter premagovanja različnih ovir. Glavni cilj naloge je bil zasnovati sistem, ki združuje mehansko zasnovo, krmilne algoritme in senzoriko za stabilno in agilno gibanje. Mehanična konstrukcija vključuje robusten okvir, pogonski sistem in napajalni sistem, optimiziran za minimalno spremembo težišča med vožnjo. Krmilni del temelji na uporabi LQI regulatorja za uravnoteženje, dopolnjenega z algoritmi za agilno vožnjo in gibanje trupa. V delu so predstavljene simulacije, implementacija na mikrokrmilniku STM32 in eksperimentalni preizkusi. Rezultati kažejo, da robot dosega stabilno uravnoteženje, odzivno vožnjo in robustnost na motnje, kar potrjuje ustreznost izbrane zasnove in pristopov vodenja. This master’s thesis examines the development and construction of a two-wheeled robot capable of self-balancing, navigating uneven terrain, and overcoming various obstacles. The primary goal was to design a system that integrates mechanical design, control algorithms, and sensing for stable and agile movement. The mechanical structure includes a robust frame, drive system, and power supply, optimized to minimize changes in the center of mass during motion. The control system is based on an LQI controller for balancing, complemented by algorithms for agile driving and upper body motion. The thesis presents simulations, implementation on an STM32 microcontroller, and experimental testing. The results show that the robot achieves stable balancing, responsive driving, and robustness to disturbances, confirming the suitability of the chosen design and control approaches. dvokolesni robot samouravnoteženje agilnost LQI regulator kaskadna regulacija two-wheeled robot self-balancing agility LQI control cascade control true true false [J. Tofant] Slovenski jezik Angleški jezik Magistrsko delo/naloga 2025-08-25 11:14:02 2025-09-04 12:12:29 2025-10-22 08:07:06 0000-00-00 00:00:00 2025 0 Maribor 0 0000-00-00 NiDoloceno NiDoloceno NiDoloceno 0000-00-00 0000-00-00 0000-00-00 007.52(043.2) 254180867 MAG_Tofant_Jon_2025.pdf MAG_Tofant_Jon_2025.pdf 1 D386C2D8FEF18F55468E05E50D053F69 4c0ccc59cf981d45f673840002aa788bf577ecffd7913ebc27f9366ec1338c4b 66733f64-823d-11f0-99c7-00155d000105 https://dk.um.si/Dokument.php?lang=slv&id=196331 MAG_Tofant_Jon_2025.zip MAG_Tofant_Jon_2025.zip 1 682554439AAFFE9D386023A0B8388733 c53d45846d9df3035b31f81f637697c1588ece1873432d6ae2bab62bd9fbf331 6d05e820-823b-11f0-99c7-00155d000105 https://dk.um.si/Dokument.php?lang=slv&id=196329 Fakulteta za elektrotehniko, računalništvo in informatiko 0 0 0