Implementacija grafičkog sučelja operatera bespilotnih letjelica s integriranom robotskom rukom

undergraduate thesis

• Title (english): Implementation of user interface for unmanned aerial vehicles with integrated robotic arm
• Author: Adam Vuić
• Mentor: Stjepan Bogdan (mentor)
• Committee member: Stjepan Bogdan (predsjednik povjerenstva)
• Committee member: Goran Vasiljević (član povjerenstva)
• Committee member: Filip Zorić (član povjerenstva)
• Granter: University of Zagreb; Faculty of Electrical Engineering and Computing; Zagreb
• Defense date and country: 2021-07-08, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Electrical Engineering

Abstract

Robotski manipulatori sastavni su dio današnjih industrijskih postrojenja, te se koriste u gotovo svakom industrijskom sektoru. Tokom godina razvijen je cijeli niz alata koji pojednostavljuju upravljanje i programiranje robotskih ruku, između ostalog i ROS koji se pokazao kao iznimno fleksibilan i postojan alat za razvoj robotskih aplikacija. Svrha ovog rada je razvoj grafičkog sučelja koji će pomoću ROS-a omogućiti različite načine upravljanja robotskom rukom kako bi se mogla testirati funkcionalnost same robotske ruke kao i razvijeni algoritmi upravljanja. Ideja je da se u konačnici GUI koristi za robotski manipulator koji se nalazi na bespilotnoj letjelici. Razvijanje grafičkog sučelja obavljalo se unutar Docker spremnika, dok je samo grafičko sučelje dizajnirano pomoću Qt Creatora. Upravljanje robotskom rukom preko grafičkog sučelja testirano je u Gazebo simulaciji.

Abstract (english)

Robotic manipulators are an integral part of today's industrial plants, and are used in almost every industrial sector. Over the years, a whole range of tools have been developed that simplify the management and programming of robotic arms, including ROS, which has proven to be an extremely flexible and durable tool for the development of robotic applications. The purpose of this paper is to develop a graphical interface that will use ROS to enable different ways of controlling the robotic arm in order to test the functionality of the robotic arm itself as well as the developed control algorithms. The idea is that ultimately the GUI is used for a robotic manipulator located on a drone. The development of the graphical interface was done within the Docker container, while the graphical interface itself was designed using Qt Creator. The control of the robotic arm via a graphical interface was tested in a Gazebo simulation.

• Keywords: robotski manipulator; GUI; ROS; Qt Creator; inverzna kinematika; direktna kinematika; gazebo simulacija; bespilotna letjelica
• Keywords (english): robotic manipulator; GUI; ROS; Qt Creator; inverse kinematics; direct kinematics; gazebo simulation; drone
• Language: croatian
• URN:NBN: urn:nbn:hr:168:795070
• Study programme: Title: Electrical Engineering and Information Technology; Study programme type: university; Study level: undergraduate; Academic / professional title: sveučilišni/a prvostupnik/ prvostupnica (baccalaureus/baccalaurea) inženjer/inženjerka elektrotehnike i informacijske tehnologije (sveučilišni/a prvostupnik/ prvostupnica (baccalaureus/baccalaurea) inženjer/inženjerka elektrotehnike i informacijske tehnologije)
• Type of resource: Text
• File origin: Born digital
• Access conditions: Closed access
• Created on: 2023-01-14 22:00:42