Kinematičko upravljanje robotskom rukom za teleoperaciju korištenjem mobilnog uređaja

master's thesis

• Title (english): Kinematic control of the robot arm for teleoperation using mobile device
• Author: Evelyn Furdi
• Mentor: Marija Seder (mentor)
• Committee member: Ivan Marković (član povjerenstva)
• Committee member: Luka Petrović (član povjerenstva)
• Committee member: Ivan Petrović (član povjerenstva)
• Granter: University of Zagreb; Faculty of Electrical Engineering and Computing; Zagreb
• Defense date and country: 2025-02-26, Croatia

Abstract

Ovim diplomskim radom opisan je razvoj sustava za teleoperaciju robotske ruke Jaco tvrtke Kinova, generacije 2, korištenjem Android mobilne aplikacije.
U radu je objašnjeno povezivanje aplikacije s ROS-om na računalu koje koristi ROS čvorove za upravljanje robotskom rukom te su prikazani rezultati upravljanja ruke kroz razvijenu aplikaciju u Gazebo simulacijskom okruženju i laboratorijskim uvjetima.
Kroz poglavlja su detaljno objašnjeni ključni pojmovi korišteni u radu, uključujući virtualna i... More simulacijska okruženja poput Android Studija i Gazebo simulatora te operacijske sustave Android i ROS. Također, pružen je uvid u robotsku ruku Jaco Gen 2, njezine tehničke karakteristike i funkcionalnosti.
Glavni dio rada fokusira se na implementaciju algoritama za upravljanje rukom u Kartezijevom koordinatnom sustavu, funkcionalnosti aplikacije te vizualni pregled korisničkog sučelja. Objašnjen proces komunikacije između aplikacije i ROS-a putem UDP servera, koji omogućuje precizno upravljanje rukom u simulatoru ili fizičkom rukom u laboratoriju.
Na kraju su prikazani eksperimentalni rezultati kroz slike iz simulacijskog i laboratorijskog okruženja, potvrđujući funkcionalnost i pouzdanost razvijenog sustava.
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Abstract (english)

This thesis describes the development of a teleoperation system for the Jaco robotic arm by Kinova, Generation 2, using an Android mobile application.
The main focus of the thesis is the implementation of inverse kinematics for controlling the arm in the Cartesian coordinate system. The application’s connection to ROS on a computer running ROS nodes for robotic arm control is explained, along with the results of controlling the arm through the developed application in both the Gazebo... More simulation environment and laboratory conditions.
The chapters provide a detailed explanation of the key concepts used in the thesis, including the principles of inverse kinematics, virtual and simulation environments such as Android Studio and the Gazebo simulator, as well as operating systems like Android and ROS. Additionally, an overview of the Jaco Gen 2 robotic arm and its technical characteristics is included.
The main part of the thesis focuses on the implementation of algorithms for controlling the arm in the Cartesian coordinate system, the application’s functionalities, and a visual review of the user interface. The process of communication between the application and ROS via a UDP server is explained, enabling precise control of the robotic arm in the simulator or the physical arm in the laboratory.
Finally, experimental results are presented through images from the simulation and laboratory environments, confirming the functionality and reliability of the developed system. Less

• Keywords: android aplikacija; mobilni uređaj; teleoperacija; robotska ruka; inverzna kinematika; direktna kinematika
• Keywords (english): android application; mobile device; teleoperation; robotic arm; inverse kinematics; forward kinematics
• Language: croatian
• URN:NBN: urn:nbn:hr:168:978784
• Study programme: Title: Computing; Study programme type: university; Study level: graduate; Academic / professional title: magistar/magistra inženjer/inženjerka računarstva (magistar/magistra inženjer/inženjerka računarstva)
• Type of resource: Text
• File origin: Born digital
• Access conditions: Open access
• Created on: 2025-03-12 11:08:12