Oponašanje pokreta ruku operatera za potrebe antropomorfne robotske manipulacije

master's thesis

• Title (english): Hand gesture for anthropomorphic robotic manipulation
• Author: Luka Marić
• Mentor: Matko Orsag (mentor)
• Committee member: Matko Orsag (član povjerenstva)
• Committee member: Goran Delač (član povjerenstva)
• Committee member: Frano Petric (član povjerenstva)
• Granter: University of Zagreb; Faculty of Electrical Engineering and Computing; Zagreb
• Defense date and country: 2023-02-22, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Electrical Engineering

Abstract

Robotski manipulatori su tehnički uređaji korišteni za interakciju sa okolinom bez direktnog ljudskog kontakta. Njihova primjena se u zadnjih nekoliko desetljeća proširila sa strogo industrijske na široku primjenu. Dodavanjem ljudskih karakteristika dizajniranju izrađuju se antropomorfni robotski manipulatori koji nalikuju ljudskim rukama. U sklopu ovog rada je, na temelju estimacije poze tijela operatera, razvijeno upravljanje antropomorfnih robotskih manipulatora koje preslikavaju pokrete ruku operatera. S tim ciljem razvijeno je programsko sučelje u kojem je implementirano nekoliko metoda upravljanja s odgovarajućim funkcionalnostima. Nad dizajniranim rješenjem je proveden eksperiment sa odgovarajućim zaključcima, te je opisan potencijalni smjer budućeg razvoja.

Abstract (english)

Robotic manipulators are technical devices used to interact with the environment without direct human contact. In the last few decades, their application has expanded from strictly industrial to wide application. By adding human characteristics to the design, anthropomorphic robot manipulators are constructed to resemble human hands. As part of this thesis, based on the estimation of the operator's body pose, the control of anthropomorphic robotic manipulators that mirror the operator's hand movements was developed. With this aim, a programming interface was developed in which several management methods with appropriate functionalities were implemented. An experiment was conducted on the designed solution with appropriate conclusions, and the potential direction of future development was described.

• Keywords: Robotski operacijski sustav; Gazebo; RViz; Antropomorfna robotska manipulacija; PID regulacija; Docker; MoveIt; Linux; Jakobijan
• Keywords (english): Robotic operating system; Gazebo; RViz; Anthropomorphic robotic manipulation; PID regulation; Docker; MoveIt; Linux; Jacobian
• Language: croatian
• URN:NBN: urn:nbn:hr:168:290513
• Study programme: Title: Electrical Engineering and Information Technology; Study programme type: university; Study level: graduate; Academic / professional title: magistar/magistra inženjer/inženjerka elektrotehnike i informacijske tehnologije (magistar/magistra inženjer/inženjerka elektrotehnike i informacijske tehnologije)
• Type of resource: Text
• File origin: Born digital
• Access conditions: Closed access
• Created on: 2023-07-13 10:18:59