Prilagodljivo upravljanje virtualnim robotom korištenjem sustava Unity na primjeru slaganja dasaka

undergraduate thesis

• Title (english): Adaptable control of virtual robot in Unity for a plank arrangement task
• Author: Karlo Čulo
• Mentor: Mirko Sužnjević (mentor)
• Committee member: Mirko Sužnjević (predsjednik povjerenstva)
• Committee member: Ivana Rašan (član povjerenstva)
• Committee member: Demijan Grgić (član povjerenstva)
• Granter: University of Zagreb; Faculty of Electrical Engineering and Computing; Zagreb
• Defense date and country: 2020-09-15, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Computing

Abstract

Primjenom FABRIK algoritma za rješavanje problema inverzne kinematike razvijen je projekt u Unityju. Projekt se sastoji od početnog unosa parametara koje korisnik proizvoljno zadaje te na temelju danih parametara robot IRB 120 kreće sa automatskim obavljanjem posla. Robot prvo dolazi do hrpe dasaka te redom skenira dasku po dasku pamteći dimenzije najviše daske, zatim uzima dasku te ovisno u zadanim parametrima slaže dasku na određenu hrpu, na kraju provjerava je li cijeli red dasaka premješten i ako jest skida poprečne daščice za sušenje i postavlja ih na neku od hrpa gdje su potrebne. Skripte za rješavanje algoritma napisane su u programskom jeziku C# isto kao i skripte za kretanje robota.

Abstract (english)

A project in Unity was developed by applying the FABRIK algorithm for solving the problem of inverse kinematics. The project consists of inputing the parameters at the beginning and then starting the robot IRB 120 which takes given parameters and starts his automatic work. The robot firstly arrives infront of heap of planks and than scans them while remembering magnitude of the highest plank, secondly it picks up the plank and depending on given parameters takes the plank on specific heap, lastly it checks if a whole row of planks is relocated and if it is, it relocates transverse drying boards to one of the heaps.

• Keywords: FABRIK; robot; Unity; C#
• Keywords (english): FABRIK; robot; Unity; C#
• Language: croatian
• URN:NBN: urn:nbn:hr:168:396410
• Study programme: Title: Computing; Study programme type: university; Study level: undergraduate; Academic / professional title: sveučilišni/a prvostupnik/ prvostupnica (baccalaureus/baccalaurea) inženjer/inženjerka računarstva (sveučilišni/a prvostupnik/ prvostupnica (baccalaureus/baccalaurea) inženjer/inženjerka računarstva)
• Type of resource: Text
• File origin: Born digital
• Access conditions: Closed access
• Created on: 2023-01-13 14:45:53