Teleoperacija robotskom rukom korištenjem Android mobilnog uređaja

undergraduate thesis

• Title (english): Robotic arm teleoperation using Android mobile device
• Author: Evelyn Furdi
• Mentor: Marija Seder (mentor)
• Committee member: Marija Seder (predsjednik povjerenstva)
• Committee member: Luka Petrović (član povjerenstva)
• Committee member: Antea Hadviger (član povjerenstva)
• Granter: University of Zagreb; Faculty of Electrical Engineering and Computing; Zagreb
• Defense date and country: 2021-07-02, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Computing

Abstract

Ovim završnim radom objašnjen je proces nastanka Android aplikacije za upravljanje robotskom rukom Jaco tvrtke Kinova, generacije 2. Pojašnjeno je povezivanje aplikacije sa ROS-om na računalu na kojem imamo ROS čvorove za pokretanje ruke te su prikazani rezultati pokretanja te ruke koristeći stvorenu aplikaciju u Gazebo simulacijskom okruženju.
Kroz poglavlja su objašnjeni svi bitni pojmovi koji se koriste u ovome radu. Tako su objašnjena sva virtualna i simulacijska okruženja kao što su Android Studio i Gazebo te operacijski sustavi korišteni u procesu izrade projekta kao što su Android i ROS. Također pobliže je dan pregled rada tvrtke Kinova čiju ruku smo koristili te same Jaco ruke.
U glavnom dijelu rada objašnjene su funkcionalnosti aplikacije te sam proces njezine izrade. Prolaskom kroz korisničko sučelje aplikacije dan je vizualan pregled kako sama aplikacija izgleda. Objašnjen je način povezivanja aplikacije i ROS-a te način na koji međusobno komuniciraju što omogućuje pokretanje same ruke.
Na kraju je dan detaljan prikaz rezultata kroz slike iz Gazebo simulacijskom okruženja koje vizualno prikazuju funkcionalnosti koje stvorena aplikacija pruža.

Abstract (english)

This final thesis explains the process of creating an Android application which is used to control the robotic arm Jaco by Kinova company, robot generation 2. It explains how application is connected to ROS on computer which has ROS nodes for arm teleoperation and at the end the final results of arm controlling in Gazebo simulation environment are shown.
Through chapters all the important terms that were used in this final thesis are explained. That includes explanation of all virtual and simulation environments such as Android Studio and Gazebo, all operating and meta-operating systems like Android and ROS. Also this project gives a closer look at the Kinova company work, whose robotic arm is used in this project. Also it gives a closer look at Jaco robotic arm itself.
In the main part of the project, application's functionalities were explained as well as the application development process. Going through the user interface of application, a visual overview of how application looks like is given. The way how connection between application and ROS is done and the way how they communicate with each other which enables the teleoperation of robotic arm itself is explained.
In the end, a detailed presentation of results is given through images from Gazebo simulation environment that visually show the functionalities that the developed application provides.

• Keywords: Android aplikacija; robotska ruka; teleoperacija
• Keywords (english): Android application; robotic arm; teleoperation
• Language: croatian
• URN:NBN: urn:nbn:hr:168:028991
• Study programme: Title: Computing; Study programme type: university; Study level: undergraduate; Academic / professional title: sveučilišni/a prvostupnik/ prvostupnica (baccalaureus/baccalaurea) inženjer/inženjerka računarstva (sveučilišni/a prvostupnik/ prvostupnica (baccalaureus/baccalaurea) inženjer/inženjerka računarstva)
• Type of resource: Text
• File origin: Born digital
• Access conditions: Closed access
• Created on: 2023-01-14 21:22:39