Skupljanje paketa u skladištu primjenom mobilnog manipulatora

master's thesis

• Title (english): Collection of Packages in Warehouses Using a Mobile Manipulator
• Author: Božidar Kolega
• Mentor: Tamara Petrović (mentor)
• Committee member: Tamara Petrović (član povjerenstva)
• Committee member: Goran Vasiljević (član povjerenstva)
• Committee member: Branimir Novoselnik (član povjerenstva)
• Granter: University of Zagreb; Faculty of Electrical Engineering and Computing; Zagreb
• Defense date and country: 2024-09-06, Croatia

Abstract

U radu je implementirano skupljanje paketa u skladištu pomoću mobilnog robota Agilex Scout Moni i dvije robotske ruke Kinova Gen3 Lite. Mobilni robot izgrađuje mapu i kreće se po skladištu koristeći algoritme za planiranje putanje uz izbjegavanje prepreka. Robotske ruke nalaze se na pozicijama za preuzimanje paketa s police i odlaganje paketa na predviđeno mjesto. Svaka robotska ruke primjerom dubinske kamera postavljene na zglob ruke i robotskog vida detektira poziciju paketa. Jedna robotska ruka služi za preuzimanje paketa s police, a druga za odlaganje paketa na predviđeno mjesto. Metoda je implementirana i provjerena u Gazebo simulaciji primjenom ROS programskog okruženja.

Abstract (english)

In the thesis the collection of packages in the warehouse was implemented using the mobile robot Agilex Scout Moni and two robotic arms Kinova Gen3 Lite. The mobile robot builds a map and moves around the warehouse using algorithms for path planning while avoiding obstacles. Robotic arms are in positions for picking up packages from the shelf and placing them in the designated place. Each robotic arm detects the position of the package using a depth camera placed on the joint of the arm, and applying image processing algorithms. One robotic arm is used to pick up the package from the shelf, and the other for putting the package in the designated place. The method was implemented and verified in the Gazebo simulation using the ROS framework.

• Keywords: Scout Mini; ubuntu; rviz; gazebo; mobilni robot; simulacija
• Keywords (english): Scout Mini; ubuntu; rviz; gazebo; mobile robot; simulation
• Language: croatian
• URN:NBN: urn:nbn:hr:168:709476
• Study programme: Title: Information and Communication Technology; Study programme type: university; Study level: graduate; Academic / professional title: magistar/magistra inženjer/inženjerka informacijske i komunikacijske tehnologije (magistar/magistra inženjer/inženjerka informacijske i komunikacijske tehnologije)
• Type of resource: Text
• File origin: Born digital
• Access conditions: Closed access
• Created on: 2024-10-12 21:05:34