Planiranje putanje robota s više stupnjeva slobode za zadatke bojanja

undergraduate thesis

• Title (english): Path Planning for Multiple Degrees of Freedom Robots Aimed for Tasks of Painting
• Author: Fran Juričan
• Mentor: Zdenko Kovačić (mentor)
• Committee member: Zdenko Kovačić (predsjednik povjerenstva)
• Committee member: Goran Vasiljević (član povjerenstva)
• Committee member: Ante Zglav (član povjerenstva)
• Granter: University of Zagreb; Faculty of Electrical Engineering and Computing; Zagreb
• Defense date and country: 2018-07-13, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Electrical Engineering

Abstract

U ovom završnom radu obrađuje se metoda planiranja putanje i trajektorije za robote sa zadatcima bojanja. Kako bih se mogli odrediti parametri putanje, određen je matematički model pištolja za bojanje. Planiranje putanje vrši se na objektu koji robot uči pomoću računalnog vida. Prilikom planiranja putanje koristi se klasični pravokutni obilazak objekta. Nakon planiranja putanje, određuje se trajektorija. Trajektorija je određena pomoću Ho-Cook-ove metode, koristeći kubni spline.

Abstract (english)

In this Bachelor thesis, the method of planning the path and trajectory for robots executing painting tasks is elaborated. In order to determine the path parameters, a mathematical model for the paint gun was specified. Planning the path is done on an object that the robot learns by computer vision. When planning a path, a classic rectangular tour over the object is used. After planning the path, trajectory is determined. The trajectory was determined with the Ho-Cook method, using cubic splines.

• Keywords: Planiranje putanje; Planiranje trajektorije; Ho-Cook metoda; Kubni spline; Pištolj za bojanje; Računalni vid; ROS
• Keywords (english): Path planning; Trajectory planning; Ho-Cook method; Cubic spline; Paint gun; Computer vision; ROS
• Language: croatian
• URN:NBN: urn:nbn:hr:168:822223
• 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: 2019-03-13 21:19:16