Modernization of TIOSS Robot Movement

Za vrijeme rada proučen je robot TIOSS. Proučeno je kada i kako je nastao te koje je funkcionalnosti imao. Od originalnih funkcionalnosti robotu je uspješno vraćena mogućnost kretanja pomoću motora u nogama. Svi motori su pregledani i popravljeni. Za upravljanje robotom dizajnirana je glavna upravljačka ploča na koju su stavljeni glavni upravljački elementi (releji, MOSFET tranzistori i Raspberry Pi 4 Model B) koji pokreću motore nogu i motor glave. U programskom jeziku Python napisan je osnovni program za upravljanje robotom. Raspberry Pi i upravljajuće računalo međusobno se povezuju bežično preko VNC servera i WiFi mreže što omogućuje upravljanje robotom na daljinu.Robot TIOSS has been studied for this thesis. It has been researched how and when it was built and what the functionalities were. The robot was successfully given its original mobility function by motors in its legs. All motors have been inspected and refurbished. In order to control the robot, a main control board was designed where the main control elements were placed (relays, MOSFET transistors and Raspberry Pi 4 model B) which set the legs and head motors in motion. The driving program was written using the Python programming language. Raspberry Pi and the control computer connect wirelessly with each other via a VNC server and WiFi network, which enables remote control over the robot