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master's thesis
Optimizacija planiranja gibanja robotskog manipulatora
2021. urn:nbn:hr:168:643343
Kletečki, Mario
University of Zagreb
Faculty of Electrical Engineering and Computing

Cite this document

Kletečki, M. (2021). Optimizacija planiranja gibanja robotskog manipulatora (Master's thesis). Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing. Retrieved from https://urn.nsk.hr/urn:nbn:hr:168:643343

Kletečki, Mario. "Optimizacija planiranja gibanja robotskog manipulatora." Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2021. https://urn.nsk.hr/urn:nbn:hr:168:643343

Kletečki, Mario. "Optimizacija planiranja gibanja robotskog manipulatora." Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2021. https://urn.nsk.hr/urn:nbn:hr:168:643343

Kletečki, M. (2021). 'Optimizacija planiranja gibanja robotskog manipulatora', Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, accessed 22 December 2024, https://urn.nsk.hr/urn:nbn:hr:168:643343

Kletečki M. Optimizacija planiranja gibanja robotskog manipulatora [Master's thesis]. Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing; 2021 [cited 2024 December 22] Available at: https://urn.nsk.hr/urn:nbn:hr:168:643343

M. Kletečki, "Optimizacija planiranja gibanja robotskog manipulatora", Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, Zagreb, 2021. Available at: https://urn.nsk.hr/urn:nbn:hr:168:643343

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Metadata
TitleOptimizacija planiranja gibanja robotskog manipulatora
Title (english)Optimization based motion planning for robot manipulators
AuthorMario Kletečki
MentorMatko Orsag (mentor)
Committee memberMatko Orsag (predsjednik povjerenstva)
Committee memberZdenko Kovačić (član povjerenstva)
Committee memberGoran Vasiljević (član povjerenstva)
GranterUniversity of Zagreb
Faculty of Electrical Engineering and Computing
Zagreb
Defense date and country2021-07-15, Croatia
Scientific / art field,
discipline and subdiscipline		TECHNICAL SCIENCES
Computing
Abstract
Tema ovog diplomskog rada je optimizacija planiranja gibanja robotskog manipulatora. Cilj je bio pronaći najkraći put od početne pozicije manipulatora pa do zadane završne pozicije, ali pazeći pri tome da ne dođe do kolizije između samog manipulatora i prepreke. Opisan je genetski algoritam koji je zaslužan za pronalazak najbolje putanje, a koji pomoću najboljih putanja prethodne populacije stvara nove bolje putanje. Rezultat gibanja manipulatora vizualno je prikazan u 3D vizualizacijskom programu RViz.
Abstract (english)
The topic of this thesis is the optimization of motion planning of the robot manipulator. The goal of this thesis was to find the shortest path from the initial position of the manipulator to the final position without it colliding with the obstacle. The genetic algorithm which was designed to find the best path is described, (which uses the best paths of previous populations to create new better paths.) The result of the manipulator movement is visually displayed in the 3D visualization program RVIz.
Keywords
Keywords (english)
Languagecroatian
URN:NBNurn:nbn:hr:168:643343
Study programmeTitle: Computing
Study programme type: university
Study level: graduate
Academic / professional title: magistar/magistra inženjer/inženjerka računarstva (magistar/magistra inženjer/inženjerka računarstva)
Type of resourceText
File originBorn digital
Access conditionsClosed access
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Created on2023-01-13 15:18:03