Finished x control and corrected first chapter

tgaspar · Jul 8, 2015 · c9efea9 · c9efea9
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diff --git a/Literatura/zupancic.pdf b/Literatura/zupancic.pdf
diff --git a/Slike/Backup_of_jr3_coordinatesistem.cdr b/Slike/Backup_of_jr3_coordinatesistem.cdr
diff --git a/Slike/d-h_drawing-eps-converted-to.pdf b/Slike/d-h_drawing-eps-converted-to.pdf
diff --git a/Slike/d-h_drawing.cdr b/Slike/d-h_drawing.cdr
diff --git a/Slike/d-h_drawing.eps b/Slike/d-h_drawing.eps
diff --git a/Slike/d-h_drawing.tex b/Slike/d-h_drawing.tex
@@ -0,0 +1,6 @@
+\begin{figure}
+	\centering
+	\includegraphics[width=\textwidth, scale=0.75]{./Slike/d-h_drawing.eps}
+	\caption{Dva zaporedna \v{c}lena kinemati\v{c}ne verige, povzeto po \cite{siciliano_robot}}
+	\label{fig:d-h_drawing}
+\end{figure}
diff --git a/Slike/jr3_coordinatesistem-eps-converted-to.pdf b/Slike/jr3_coordinatesistem-eps-converted-to.pdf
diff --git a/Slike/jr3_coordinatesistem.cdr b/Slike/jr3_coordinatesistem.cdr
diff --git a/Slike/jr3_coordinatesistem.eps b/Slike/jr3_coordinatesistem.eps
diff --git a/Slike/jr3_coordinatesistem.tex b/Slike/jr3_coordinatesistem.tex
@@ -1,6 +1,6 @@
 \begin{figure}
 	\centering
-	\includegraphics[width=\textwidth]{./Slike/jr3_coordinatesistem.eps}
-	\caption{}
+	\includegraphics[scale=0.5]{./Slike/jr3_coordinatesistem.eps}
+	\caption{Koordinatni sistem senzorja sile ter koordinatni sistem težišča prijemala}
 	\label{fig:jr3_coordinatesistem}
 \end{figure}
diff --git a/Slike/pa10-servocontroller.tex b/Slike/pa10-servocontroller.tex
@@ -1,6 +1,6 @@
 \begin{figure}
 	\centering
-	\includegraphics[height=\textwidth]{./Slike/pa10-servocontroller.png}
+	\includegraphics[width=\textwidth]{./Slike/pa10-servocontroller.png}
 	\caption{Tehni\v{c}na risba ohi\v{s}ja krmilnika servo motorjev. Povzeto po \cite{pa10-manual}.}
-	\label{fig:pa10-dh}
+	\label{fig:pa10-servo}
 \end{figure}
diff --git a/TR.pdf b/TR.pdf
diff --git a/literatura.bib b/literatura.bib
@@ -54,6 +54,13 @@ @book{mihelj_vodenje
 	address = {Ljubljana}
 }
 
+@book{zupancic_tr,
+	title={Teorija regulacij},
+	author={Zupan\v{c}i\v{c}, Borut},
+	publisher={Univerza v Ljubljani, Zalo{\v{z}}ba FE in FRI},
+	address = {Ljubljana}
+}
+
 @book{lenarcic_robotmeh,
 	title={Robotski mehanizmi},
 	author={Lenar\v{c}i\v{c}, Jadran and Bajd, Tadej},

diff --git a/macros.tex b/macros.tex
@@ -2,4 +2,7 @@
 \newcommand{\matlab}{MATLAB\textsuperscript{\textregistered}}
 \newcommand{\simulink}{SIMULINK\textsuperscript{\textregistered}}
 \newcommand{\matsim}{MATLAB\textsuperscript{\textregistered} SIMULINK\textsuperscript{\textregistered}}
-\newcommand{\thom}{$\textbf{T}^i_{i+1}$}
+\newcommand{\thom}{$\textbf{T}^i_{i+1}$}
+\newcommand{\Lagrt}{\mathcal{T}}
+\newcommand{\Lagrl}{\mathcal{L}}
+\newcommand{\Lagru}{\mathcal{U}}
diff --git a/magistrska_timotej_gaspar.aux b/magistrska_timotej_gaspar.aux
@@ -4,6 +4,7 @@
 \@writefile{toc}{\select@language{slovene}}
 \@writefile{lof}{\select@language{slovene}}
 \@writefile{lot}{\select@language{slovene}}
+\citation{siciliano_robot}
 \citation{pa10-manual}
 \citation{pa10-manual}
 \@writefile{lot}{\contentsline {table}{\numberline {1}{\ignorespaces Veli\v cine in simboli}}{xi}}
@@ -26,164 +27,165 @@
 \newlabel{chap:pa10}{{2}{7}}
 \@writefile{toc}{\contentsline {section}{\numberline {2.1}Kinemati\v cni model robota PA-10}{7}}
 \newlabel{sec:pa10_kin_model}{{2.1}{7}}
+\citation{siciliano_robot}
 \@writefile{lof}{\contentsline {figure}{\numberline {2.1}{\ignorespaces Skica robotskega mehanizma PA 10.}}{8}}
 \newlabel{fig:pa10drawing}{{2.1}{8}}
 \newlabel{eq:tob}{{2.2}{8}}
 \citation{pa10-manual}
 \citation{pa10-manual}
 \citation{pa10-manual}
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-\newlabel{fig:pa10-dh}{{2.2}{9}}
-\citation{lenarcic_robotmeh}
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+\@writefile{lof}{\contentsline {figure}{\numberline {2.3}{\ignorespaces Tehni\v {c}na risba robota PA-10. Iz nje se definira D-H parametre. Povzeto po \cite  {pa10-manual}.}}{10}}
+\newlabel{fig:pa10-dh}{{2.3}{10}}
 \@writefile{lot}{\contentsline {table}{\numberline {2.1}{\ignorespaces D-H parametri}}{10}}
 \newlabel{table:dh_params}{{2.1}{10}}
-\newlabel{eq:dir_dyn}{{2.8}{11}}
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-\@writefile{toc}{\contentsline {section}{\numberline {2.2}Dinami\v cen model robota PA-10}{11}}
-\citation{siciliano_robot}
+\citation{lenarcic_robotmeh}
+\newlabel{eq:dir-kinematics}{{2.6}{11}}
+\newlabel{eq:dir-kin-vel}{{2.7}{11}}
 \citation{siciliano_robot}
+\newlabel{eq:dir_dyn_accel}{{2.8}{12}}
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 \newlabel{eq:din}{{2.10}{12}}
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 \citation{pa10-manual}
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 \citation{jr3_doc_inst}
 \citation{jr3_doc_inst}
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 \@writefile{lof}{\addvspace {10\p@ }}
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 \citation{omrcen_jr3}
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 \citation{mihelj_vodenje}
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 \citation{mihelj_hapt}
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 \citation{petric_nevronska}
-\@writefile{toc}{\contentsline {chapter}{\numberline {5}Krmiljenje z inverzno dinamiko}{35}}
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 \bibstyle{ieeetrslo}
 \bibdata{literatura}
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-\bibcite{mhi_pa10}{2}
-\bibcite{craig_robintro}{3}
-\bibcite{siciliano_robot}{4}
+\newlabel{chap:zakljucek}{{7}{43}}
+\bibcite{siciliano_robot}{1}
+\bibcite{pa10-manual}{2}
+\bibcite{mhi_pa10}{3}
+\bibcite{craig_robintro}{4}
 \bibcite{voung_pa10}{5}
 \bibcite{aalst_pa10}{6}
 \bibcite{rodrigo_pa10}{7}
 \bibcite{petric_nevronska}{8}
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diff --git a/magistrska_timotej_gaspar.bbl b/magistrska_timotej_gaspar.bbl
@@ -1,5 +1,10 @@
 \begin{thebibliography}{10}
 
+\bibitem{siciliano_robot}
+B.~Siciliano, L.~Sciavicco, L.~Villani  in G.~Oriolo, {\em Robotics, Modelling,
+  Planning and Control}.
+\newblock London: Springer, 2009.
+
 \bibitem{pa10-manual}
 Mitsubishi Heavy Industries, {\em Portable General Purpose Intelligent Arm -
   Operating Manual}, rev. 1~izd.
@@ -11,11 +16,6 @@ M.~H.~I. Ltd., ``Mitsubishi clean room robot,'' {\em Seminarska naloga}, 2003.
 J.~J. Craig, {\em Introduction to Robotics}.
 \newblock Z.D.A.: Pearson Education International, 2005.
 
-\bibitem{siciliano_robot}
-B.~Siciliano, L.~Sciavicco, L.~Villani  in G.~Oriolo, {\em Robotics, Modelling,
-  Planning and Control}.
-\newblock London: Springer, 2009.
-
 \bibitem{voung_pa10}
 N.~D. Vuong in M.~H.~J. Ang, ``Dynamic model identification for industrial
   robots,'' {\em Acta Polytechnica Hungarica}, 2009.
@@ -36,10 +36,6 @@ T.~Petri\v{c} in M.~Munih, ``Kompenzacija trenja in gravitacije na robotu
 J.~Lenar\v{c}i\v{c} in T.~Bajd, {\em Robotski mehanizmi}.
 \newblock Ljubljana: Univerza v Ljubljani, Zalo{\v{z}}ba FE in FRI, 2003.
 
-\bibitem{zlajpah_dynamics_red}
-L.~?lajpah, ``Dynamics of internal motion of redundant manipulators,'' {\em
-  IEEE}, str.~95 -- 100, 1997.
-
 \bibitem{almassri_pressure_sensor}
 A.~M. Almassri, W.~Z.~W. Hasan, S.~A. Ahmad, A.~J. Ishak, A.~M. Ghazali, D.~N.
   Talib  in C.~Wada, ``Pressure sensor: State of the art, design, and
@@ -77,9 +73,8 @@ D.~Omr?en in B.~Nemec, ``Meritev gibanja kolena z industrijskim robotom -
   avtomatska kompenzacija gravitacije prijemala,'' {\em Strojni?ki vestnik},
   str.~87 -- 97, 2002.
 
-\bibitem{bajd_robotika}
-T.~Bajd, M.~Mihelj, J.~Lenar\v{c}i\v{c}, A.~Stanovnik  in M.~Munih, {\em
-  Robotika}.
-\newblock Ljubljana: Univerza v Ljubljani, Zalo{\v{z}}ba FE in FRI, 2008.
+\bibitem{zupancic_tr}
+B.~Zupan\v{c}i\v{c}, {\em Teorija regulacij}.
+\newblock Ljubljana: Univerza v Ljubljani, Zalo{\v{z}}ba FE in FRI.
 
 \end{thebibliography}
diff --git a/magistrska_timotej_gaspar.blg b/magistrska_timotej_gaspar.blg
@@ -1,3 +1,5 @@
 This is BibTeX, Version 0.99dThe top-level auxiliary file: magistrska_timotej_gaspar.aux
 The style file: ieeetrslo.bst
 Database file #1: literatura.bib
+Warning--empty year in zupancic_tr
+(There was 1 warning)