Planiranje gibanja robotske ruke za blokiranje gibajuće loptice

undergraduate thesis

• Title (english): Robot arm motion planning for blocking the moving ball
• Author: Benjamin Schwirtlich
• Mentor: Ivan Marković (mentor)
• Committee member: Ivan Marković (predsjednik povjerenstva)
• Committee member: Luka Petrović (član povjerenstva)
• Committee member: Antea Hadviger (član povjerenstva)
• Granter: University of Zagreb; Faculty of Electrical Engineering and Computing; Zagreb
• Defense date and country: 2020-07-03, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Electrical Engineering

Abstract

Ovaj rad obrađuje tematike vezane za upravljanje gibanjem JACO robotske ruke. Počevši s uvodnim razmatranjem o osnovnim pojmovima i konceptima kao kratak uvod u teoriju robotike, dan je pregled u suštini potrebnih predznanja kao temelj kasnijem putu prema realizaciji. Prije same implementacije objašnjeni su MATLAB-ovi alatni paketi koji će poslužiti za upravljanje, kao i radno okruženje u Gazebo-u u kojem će se izvođenje odvijati preko ROS-a. U glavnome dijelu pojašnjava se princip upravljanja i samo izvođenje kroz petlju. Pokazani su rezultati i poteškoće s kojima se suočava praktična implementacija te mogući razlozi i prijedlozi kao rješenja. Na samome kraju priložen je kratak uvid u budući rad s obzirom da je ostalo još mnogo prostora za razvoj i napredak, pa s time u vezi i ideje koje mogu potaknuti samog čitatelja na razmišljanje i dati podlogu za moguću vlastitu realizaciju.

Abstract (english)

The work discusses about controlling the motion of JACO robotic arm. Starting with introductive consideration about fundamental terms and concepts as short introduction to robotics theory, needed foreknowledge is essentially shown as basis for later realization. Before very implementation, MATLAB’s toolboxes are being discussed which will be useful for controlling the arm, as well as work environment in Gazebo where will the implementing be executed through ROS. In the main part the controlling principle is being discussed and controlling over loop. The results and difficulties with practical implementation are shown, as well as possible reasons and suggestions as potential solutions. In the end the short insight in future work is represented showing us that there is a lot of space left for future progress and development, along with ideas that could encourage the reader for later studying and give foundation for possible own implementation.

• Language: croatian
• URN:NBN: urn:nbn:hr:168:766324
• 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: 2023-01-14 09:54:21