Okvir programske podrške za dohvaćanje i postavljanje objekata robotskom rukom

undergraduate thesis

• Title (english): A software framework for object pick-and-place with a robotic arm
• Author: Josip Duvančić
• Mentor: Ivan Marković (mentor)
• Committee member: Ivan Marković (član povjerenstva)
• Committee member: Vlaho-Josip Štironja (član povjerenstva)
• Committee member: Jelena Gregorić (član povjerenstva)
• Granter: University of Zagreb; Faculty of Electrical Engineering and Computing; Zagreb
• Defense date and country: 2024-07-08, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Computing

Abstract

Ovaj završni rad bavi se razvojem softverskog okvira za dohvaćanje i postavljanje objekata robotskom rukom, što predstavlja jedan od temeljnih problema u robotici s potencijalnom primjenom u različitim industrijskim granama. Rad obuhvaća teorijske osnove robotike te njihovu praktičnu primjenu u simuliranom okruženju. U teorijskom dijelu, rad objašnjava ključne koncepte poput Denavit-Hartenbergovih parametara za opisivanje kinematičkih lanaca robota, metode za rješavanje problema inverzne kinematike, te komponente sustava robotskog vida. Praktični dio projekta uklju- čuje implementaciju zadatka dohvaćanja i postavljanja objekata koristeći robotski mani- pulator Kinova Gen3 u simuliranom okruženju, pri čemu se koriste Robotski Operacijski Sustav (ROS) i Gazebo simulator. Ovaj projekt pruža temelj za daljnja istraživanja u području robotske manipulacije, s potencijalnim proširenjima koja uključuju implementaciju na stvarnom robotu i ra- zvoj adaptivnih kontrolnih algoritama. Time se doprinosi napretku u automatizaciji i robotici, s ciljem unaprjeđenja učinkovitosti i preciznosti u industrijskim i drugim primjenama.

Abstract (english)

This final thesis focuses on developing a software framework for picking and placing objects using a robotic arm, which represents one of the fundamental problems in robotics with potential applications in various industrial sectors. The work encompasses theoretical foundations of robotics and their practical application in a simulated environment. In the theoretical part, the thesis explains key concepts such as Denavit-Hartenberg parameters for describing kinematic chains of robots, methods for solving inverse kinematics problems, and components of robotic vision systems. The practical part of the project includes the implementation of a pick-and-place task using the Kinova Gen3 robotic manipulator in a simulated environment, utilizing the Robot Operating System (ROS) and Gazebo simulator. This project provides a foundation for further research in the field of robotic manipulation, with potential extensions including implementation on a real robot and development of adaptive control algorithms. This contributes to advancements in automation and robotics, aiming to improve efficiency and precision in industrial and other applications.

• Keywords: robotska ruka; robotika; robotski sustavi; direktna kinematika; inverzna kinematika; dohvaćanje i postavljanje; robotski vid; autonomija; simulacijska okruženja; ROS
• Keywords (english): robotic arm; robotics; robotic systems; forward kinematics; inverse kinematics; pick and place; robot vision; autonomy; simulation environments; ROS
• Language: croatian
• URN:NBN: urn:nbn:hr:168:749788
• 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: 2024-10-12 20:29:26