Programska izvedba algoritma pakiranja objekata u kutiju za primjenu u animaciji robota u virtualnom okruženju

master's thesis

• Title (english): Bin packaging algorithm implementation for robot animation in a virtual environment
• Author: Nikolina Motočić
• Mentor: Maja Matijašević (mentor)
• Committee member: Maja Matijašević (predsjednik povjerenstva)
• Committee member: Mirko Sužnjević (član povjerenstva)
• Committee member: Lea Skorin-Kapov (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; Computing

Abstract

Algoritmi pakiranja su klasa optimizacijskih problema u matematici koji pokušavaju smjestiti objekte zajedno u nekakvu vrstu spremnika. Cilj algoritma je da se spremnik napuni što je gušće moguće ili da se svi objekti smjeste u što manji broj spremnika. U ovome radu, teorijski je proučeno nekoliko algoritama te je odabran prikladan algoritam pakiranja spremnika. Odabrani algoritam izveden je i animiran u programu Unity. Programska izvedba algoritma radi nad listom nailazećih predmeta koje robotska ruka posprema u kutiju. Robotska ruka animirana je algoritmom inverzne kinematike FABRIK.

Abstract (english)

Packing algorithms are a class of optimization problems in mathematics that try to place objects together in some kind of container (a bin). The goal of the algorithm is to fill the bin as densely as possible or to place all objects in as few bins as possible. In this paper, we theoretically studied several algorithms before deciding on the optimal bin packing algorithm. We implemented the selected algorithm and simulated its execution in Unity. Software implementation of the algorithm works over a list of incoming objects that a robotic arm places into the box. The robotic arm is animated by the FABRIK inverse kinematics algorithm.

• Keywords: algoritmi pakiranja; algoritmi pakiranja u spremnik; virtualna okruženja; inverzna kinematika
• Keywords (english): packing algorithms; bin packing algorithms; virtual environments; inverse kinematics
• Language: croatian
• URN:NBN: urn:nbn:hr:168:362868
• 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 13:16:05