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undergraduate thesis
Paralelizacija kinematike robota na grafičkoj kartici
2022. urn:nbn:hr:168:334900
Šćekić, Sven
University of Zagreb
Faculty of Electrical Engineering and Computing

Cite this document

Šćekić, S. (2022). Paralelizacija kinematike robota na grafičkoj kartici (Undergraduate thesis). Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing. Retrieved from https://urn.nsk.hr/urn:nbn:hr:168:334900

Šćekić, Sven. "Paralelizacija kinematike robota na grafičkoj kartici." Undergraduate thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2022. https://urn.nsk.hr/urn:nbn:hr:168:334900

Šćekić, Sven. "Paralelizacija kinematike robota na grafičkoj kartici." Undergraduate thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2022. https://urn.nsk.hr/urn:nbn:hr:168:334900

Šćekić, S. (2022). 'Paralelizacija kinematike robota na grafičkoj kartici', Undergraduate thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, accessed 22 August 2024, https://urn.nsk.hr/urn:nbn:hr:168:334900

Šćekić S. Paralelizacija kinematike robota na grafičkoj kartici [Undergraduate thesis]. Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing; 2022 [cited 2024 August 22] Available at: https://urn.nsk.hr/urn:nbn:hr:168:334900

S. Šćekić, "Paralelizacija kinematike robota na grafičkoj kartici", Undergraduate thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, Zagreb, 2022. Available at: https://urn.nsk.hr/urn:nbn:hr:168:334900

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Metadata
TitleParalelizacija kinematike robota na grafičkoj kartici
Title (english)Parallelization of robot kinematics in GPU
AuthorSven Šćekić
MentorMarija Seder (mentor)
Committee memberMarija Seder (član povjerenstva)
Committee memberIvan Bilić (član povjerenstva)
Committee memberKarlo Koledić (član povjerenstva)
GranterUniversity of Zagreb
Faculty of Electrical Engineering and Computing
Zagreb
Defense date and country2022-07-04, Croatia
Scientific / art field,
discipline and subdiscipline		TECHNICAL SCIENCES
Computing
Abstract
Inverzna i direktna kinematika temeljni su problemi programiranja robota. Cilj ovog rada bio je ubrzati rješavanje ovih problema uz pomoć paralelizacije na grafičkoj kartici. Implementirali smo algoritme u biblioteci PyTorch te nakon toga proveli testiranje preciznosti i brzine samih algoritama. Uspješno smo značajno smanjili potrebno vrijeme računanja te omogućili korisnicima laku implementaciju ovih algoritama u već postojeće programe.
Abstract (english)
Inverse and direct kinematics are one of the core problems when programming robot manipulators. The goal of this work was to decrease the required time for solving these problems by using parallelization on the GPU. We implemented the algorithms in PyTorch library and then we mesaured the accuracy and time it takes to solve the problems. We successfully managed to drastically decrease the required time and enabled users to easily implement our solution in already existing programs.
Keywords
Keywords (english)
Languagecroatian
URN:NBNurn:nbn:hr:168:334900
Study programmeTitle: 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 resourceText
File originBorn digital
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Created on2023-01-15 11:18:10