Demonstracijom podržano robotsko brušenje

master's thesis

• Title (english): Demonstration-supported robotic sanding
• Author: Pero Drobac
• Mentor: Matko Orsag (mentor)
• Committee member: Matko Orsag (član povjerenstva)
• Committee member: Frano Petric (član povjerenstva)
• Committee member: Bruno Marić (član povjerenstva)
• Granter: University of Zagreb; Faculty of Electrical Engineering and Computing; Zagreb
• Defense date and country: 2025-02-21, Croatia

Abstract

Ovaj rad se bavi robotskom replikacijom ljudski demonstriranog pokreta brušenja metalnog kalupa za izradu staklenih boca. Ljudski pokret je sačuvan kao skup pozicija alata kojeg zatim nauči, modificira i replicira implementacija matematičkog modela primitiva dinamičkog gibanja (dynamic movement primitives, DMP). Ispitane su performanse različitih verzija algoritma DMP. Za snimanje pokreta je iskorišten specijalni sustav kamera koji prati pozicije optičkih markera. U svrhu replikacije brušenja... More je dodatno izrađen nosač za alat koji je pričvršćen na robotsku ruku i provedena kalibracija poze vrha alata i kalibracija poze kalupa. Less

Abstract (english)

This thesis centers around the robotic replication of human-handled demonstrated sanding movements of a metal mould designed for making glass bottles. Human-handled tool movement is saved as a set of tool positions which is then learned, modified and replicated by the implementation of a mathematical model of dynamic movement primitives (DMP). The performance of different versions of the DMP algorithm was tested. A special camera system was used to record the movements, which tracked the... More positions of optical markers. For the purposes of sanding replication, a tool holder was additionally made to be attached to the robotic arm, as well as implementation of the pose calibration of the tool tip and the pose calibration of the mould. Less

• Keywords: Robotizacija; Robotsko Brušenje; Robotska Manipulacija; Kalibracija Poze; Demonstracijom Podržano Robotsko Učenje; Replikacija Pokreta; DMP; Primitivi Dinamičkog Gibanja
• Keywords (english): Robotization; Robotic Sanding; Robot Manipulation; Pose Calibration; Demonstration-Supported Robot Learning; Movement Replication; DMP; Dynamic Movement Primitives
• Language: croatian
• URN:NBN: urn:nbn:hr:168:373517
• Study programme: Title: Information and Communication Technology; Study programme type: university; Study level: graduate; Academic / professional title: magistar/magistra inženjer/inženjerka informacijske i komunikacijske tehnologije (magistar/magistra inženjer/inženjerka informacijske i komunikacijske tehnologije)
• Type of resource: Text
• File origin: Born digital
• Access conditions: Open access
• Created on: 2025-03-12 11:06:47