Programsko sučelje za daljinsko upravljanje robotom putem mobilne aplikacije

undergraduate thesis

• Title (english): Remote control of a robotic manipulator using a mobile application
• Author: Krešimir Turković
• Mentor: Matko Orsag (mentor)
• Committee member: Matko Orsag (predsjednik povjerenstva)
• Committee member: Frano Petric (član povjerenstva)
• Committee member: Marko Car (član povjerenstva)
• Granter: University of Zagreb; Faculty of Electrical Engineering and Computing; Zagreb
• Defense date and country: 2017-07-10, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Electrical Engineering

Abstract

U ovom radu prikazana je i pobliže objašnjena izrada programskog sučelja za Android mobilni uređaj pomoću kojeg se daljinski upravlja s robotom Schunk LWA4P. Izvedena su tri načina upravljanja: upravljanje pomoću joysticka, upravljanje zadavanjem kutova zakreta zglobova i upravljanje zadavanjem koordinata i orijentacije vrha robota. Komunikacija između računala i mobilnog uređaja koristi robotski operacijski sustav za razmjenu poruka preko lokalne mreže. Master node pokreće se na računalu i napisan je u Python programskom jeziku. Ovisno o odabranom načinu upravljanja, master node provodi odgovarajuće proračune kutova i šalje ih na robota. Aplikacija je izrađena u Android Studio okruženju i napisana u XML-u i Java programskom jeziku.

Abstract (english)

This paper presents a more detailed description of the program interface for the Android mobile device for remote control of Schunk LWA4P robot. Three control modes were introduced: joystick control, control with assigned joint turn angles, control with assigned coordinates and orientation of the tip of the robot. Communication between the computer and the mobile device uses robotic operating system for message exchange over the local area network. The master node runs on a computer and is written using Python programming language. Depending on the control mode selected, the master node performs appropriate angle calculations and sends them to the robot. The application is created in the Android Studio environment and written in Java and XML.

• Keywords: Android; aplikacija; upravljanje; robot; kinematika; Schunk; LWA4P; sučelje; Gazebo; ROS
• Keywords (english): Android; application; control; robot; kinematic; Schunk; LWA4P; interface; Gazebo; ROS
• Language: croatian
• URN:NBN: urn:nbn:hr:168:171068
• 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: 2019-03-14 01:44:01