Fleksibilni proizvodni sustav s Baxter robotom

master's thesis

• Title (english): Flexible Manufacturing System with Baxter Robot
• Author: Miriam Bilać
• Mentor: Zdenko Kovačić (mentor)
• Committee member: Zdenko Kovačić (predsjednik povjerenstva)
• Committee member: Stjepan Bogdan (član povjerenstva)
• Committee member: Matko Orsag (član povjerenstva)
• Granter: University of Zagreb; Faculty of Electrical Engineering and Computing; Zagreb
• Defense date and country: 2016-07-13, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Electrical Engineering

Abstract

Cilj je rada na diplomskom zadatku ostvariti upravljanje laboratorijskim fleksibilnim robotskim sustavom u čijem je središtu robot Baxter. U takvom sustavu, koji je klase sustava s diskretnim događajima, svaka Baxterova ruka predstavlja jedan višeradni resurs, a treba biti omogućeno i jednostavno dodavanje drugih jednoradnih i višeradnih resursa u sustav. Upravljački sustav treba implementirati u simulaciji i na stvarnom sustavu u ROS okruženju te treba omogućiti jednostavno mijenjanje tijeka izvođenja zadataka te upravljačkih programa. Nadalje, treba ostvariti robustan prijenos objekata u sustavu s različitih pozicija te implementirati raspoređivanje zadataka primjenom dinamičkog programiranja s različitim kriterijima optimizacije.

Abstract (english)

The objective is to synthesize and implement a control system for laboratory flexible manufacturing line with Baxter robot as a central resource. In such a discrete event system, each Baxter’s hand represents a shared resource, but software design needs to allow seamless addition of other resources as well. Control framework, based on discrete event theory, needs to be implemented in both simulation and in the real system using ROS environment, and it needs to enable user to easily modify manufacturing sequence and test different control algorithms. Further, the goal is to improve robustness of objects transfer from different locations within the manufacturing line, and to implement task assignment algorithm using dynamical programming with different optimization criteria.

• Keywords: Baxter Research Robot; ROS; klijent-server komunikacija; OptiTrack; dinamičko programiranje
• Keywords (english): Baxter Research Robot; ROS; client-server interface; OptiTrack; dynamic programming
• Language: english
• URN:NBN: urn:nbn:hr:168:204276
• 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: 2018-02-06 07:53:56