Generiranje putanje robota za skeniranje površine na osnovi poznatog 3D modela

master's thesis

• Title (english): Robot Path Generation for Surface Scanning Based on Existing 3D Model
• Author: Luka Mikić
• Mentor: Stjepan Bogdan (mentor)
• Committee member: Stjepan Bogdan (predsjednik povjerenstva)
• Committee member: Zdenko Kovačić (član povjerenstva)
• Committee member: Matko Orsag (član povjerenstva)
• Granter: University of Zagreb; Faculty of Electrical Engineering and Computing; Zagreb
• Defense date and country: 2018-07-16, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Electrical Engineering

Abstract

Proračunavanje odgovarajuće putanje jedan je od ključnih elemenata sustava vođenih pomoću poznatog 3D modela. Uvođenjem složenih robotskih ruku sa šest stupnjeva slobode gibanja omogućeno je brzo skeniranje bez potrebe za specifičnim alatima za pojedini segment posude te je moguće primijeniti složene postupke izdvajanja dijela 3D modela i generiranja putanje. Zadatak ovog diplomskog rada je razviti metodu izdvajanja dijela 3D modela i proračunavanje odgovarajuće putanje. U sklopu rada razvijeno je korisničko sučelje koje omogućuje provjeru ispravnosti razvijenih metoda izdvajanja i proračunavanja putanje u simulacijskom alatu. Razvijene metode nisu usko specijalizirane i mogu biti primijenjene na bilo kojem robotu ili 3D modelu.

Abstract (english)

Robot path generation is one of the key elements in the 3D model guided robotic systems. By introducing complex robotic arm with six degree of freedom we can scan complex curved surface without the need for special tools and it is possible to apply complex methods of extraction of 3D model and the path generation. The aim of this thesis is to develop the method for part extraction from the 3D model and the method for the robot path generation. Graphical user interface was designed for the part extraction and the path generation verification. This path generation system can also be applied to generate paths for many others model-guided robotics system and 3D models

• Keywords: generiranje putanje; robotika; 3D vizualizacija; VTK
• Keywords (english): path generation; robotics; 3D visualization; VTK
• Language: croatian
• URN:NBN: urn:nbn:hr:168:573632
• Study programme: Title: Electrical Engineering and Information Technology; Study programme type: university; Study level: graduate; Academic / professional title: magistar/magistra inženjer/inženjerka elektrotehnike i informacijske tehnologije (magistar/magistra inženjer/inženjerka elektrotehnike i informacijske tehnologije)
• Type of resource: Text
• File origin: Born digital
• Access conditions: Closed access
• Created on: 2019-03-13 23:04:32