Konstruiranje i izrada dvostrukog manipulatora za bespilotnu letjelicu

undergraduate thesis

• Title (english): Design and construction of dual-arm manipulator for an UAV
• Author: Lea Matleković
• Mentor: Stjepan Bogdan (mentor)
• Committee member: Stjepan Bogdan (predsjednik povjerenstva)
• Committee member: Matko Orsag (član povjerenstva)
• Committee member: Antun Ivanović (član povjerenstva)
• Granter: University of Zagreb; Faculty of Electrical Engineering and Computing; Zagreb
• Defense date and country: 2017-09-08, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Electrical Engineering

Abstract

Ljudi su od davnina pokušavali olakšati poslove koje su morali obavljati.
Od 20. stoljeća robotski manipulatori obavljaju zadatke fizički prezahtjevne za
čovjeka. Industrijski roboti doveli su nas do pametnih robota treće generacije koji
imaju sposobnost učenja iz svojih pogrešaka. Time je inspiriran krajnji proizvod
ovoga rada, dvostruki manipulator, koji u suradnji s bespilotnom letjelicom može
odvrnuti vijak. Kako bi to bilo moguće bilo je potrebno razriješiti jednadžbe
direktne i inverzne kinematike te ih implementirati u Robotskom Operacijskom
Sustavu (ROS).

Abstract (english)

Since ancient times people were trying to make their jobs easier. In 20th century
robotic manipulators started to perform tasks which human beings were unable
to do. So called industrial robots were the big step forward to 3rd generation of
robots which are intelligent and can learn from their mistakes. Inspired by that
the product of this thesis is dual-arm manipulator which can remove the screw in
collaboration with unmanned aerial vehicle (UAV). To make that happen it was
necessary to solve forward and inverse kinematics problem for given manipulator
and implement it in Robot Operating System (ROS).

• Keywords: robot; manipulator; bespilotna letjelica; kinematika; ROS
• Keywords (english): robot; manipulator; UAV; kinematics; ROS
• Language: croatian
• URN:NBN: urn:nbn:hr:168:377426
• 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: 2019-03-19 19:10:05