Prilagodljivo upravljanje virtualnim robotom korištenjem sustava Unity na primjeru rezanja 3D objekta

master's thesis

• Title (english): Adaptable control of virtual robot in Unity for a 3D cutting task
• Author: Luka Abramušić
• Mentor: Mirko Sužnjević (mentor)
• Committee member: Mirko Sužnjević (predsjednik povjerenstva)
• Committee member: Lea Skorin-Kapov (član povjerenstva)
• Committee member: Jurica Babić (član povjerenstva)
• Granter: University of Zagreb; Faculty of Electrical Engineering and Computing; Zagreb
• Defense date and country: 2020-07-09, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Computing

Abstract

U radu je predstavljena ideja i implementacija simulatora robotske ruke koja može izrezati 3D objekte napola. Proučeni su algoritmi rezanja mreže trokutova, minimizacija funkcija, inverzna kinematika i drugi pojmovi industrijske robotike. Algoritmi su povezani u sustav koji za odabrani objekt pomiče robota površinom objekta i reže ga napola. Sustav je implementiran u sustavu za izradu igara Unity. Učinkovitost robota je testirana na objektima različitih obilježja.

Abstract (english)

In this work we present a theoretical and practical approach to implementing an industrial robot simulator applied for the task of cutting 3D objects in half. Our research covers mesh cutting algorithms, function minimization, inverse kinematics algorithms and terminology related to industrial robotics. The covered algorithms are composed into a system which simulates movement of the robotic arm over a specified object's surface and cuts it in half. The system is implemented using the Unity game engine. The simulator's efficiency is tested on objects of various characteristics.

• Keywords: Unity; virtualni industrijski robot; simulacija robota; inverzna kinematika; rezanje 3D objekta
• Keywords (english): Unity; virtual industrial robot; robot simulation; inverse kinematics; 3D mesh cutting
• Language: croatian
• URN:NBN: urn:nbn:hr:168:278504
• Study programme: Title: Computing; Study programme type: university; Study level: graduate; Academic / professional title: magistar/magistra inženjer/inženjerka računarstva (magistar/magistra inženjer/inženjerka računarstva)
• Type of resource: Text
• File origin: Born digital
• Access conditions: Closed access
• Created on: 2023-01-13 09:40:31