Autonomno uklanjanje interfaznih rastojnika s dva vodiča pomoću specijaliziranog alata

master's thesis

• Title (english): Autonomous removal of interphase spacers from two conductors using a specialized tool
• Author: Neven Čargonja
• Mentor: Stjepan Bogdan (mentor)
• Committee member: Stjepan Bogdan (predsjednik povjerenstva)
• Committee member: Zdenko Kovačić (član povjerenstva)
• Committee member: Goran Vasiljević (član povjerenstva)
• Granter: University of Zagreb; Faculty of Electrical Engineering and Computing; Zagreb
• Defense date and country: 2021-07-09, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Electrical Engineering

Abstract

Zadatak ovog rada je autonomno skidanje interfaznog rastojnika. Najprije se modelirala
robotska ruka s alatom i interfaznim rastojnikom te se pokrenuo Gazebo kako
bi se model robota pojavio u simulaciji. Nakon toga je konfigurirana MoveIt mapa
pomo´cu MoveIt Setup Assistant koja je stvorena kako bi robotska ruka mogla izvršiti
planiranu trajektoriju. Sustav je testiran u simulatoru Gazebo te potom u laboratorijskom
okruženju. U Gazebo nije bilo pravih rezultata budu´ci da Gazebo nije u stanju
pravilo simulirati kontakte izmed¯u robota i okoline. U laboratorijskom okruženje uspjelo
se postaviti interfazni rastojnik te maknuti alata.

Abstract (english)

The task of this thesis is autonomous removal of interphase spacers. First, a robotic
arm with a tool and an interphase spacer was modeled and a Gazebo was launched to
make the robot model appear in the simulation. The MoveIt map was then configured
using the MoveIt Setup Assistant which was created so that the robotic arm could
execute the planned trajectory. The system was tested in a Gazebo simulator and then
in a laboratory environment. There were no real results in Gazebo as Gazebo is not
able to rule simulate contacts between the robot and the environment. In the laboratory
environment, it was possible to install an interphase spacer and then remove tools.

• Keywords: robotska ruka; interfazni rastojnik; planiranje putanje
• Keywords (english): robotic arm; interphase spacers; trajectory planning
• Language: croatian
• URN:NBN: urn:nbn:hr:168:924977
• 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: 2023-01-13 09:53:09