Prihvat i odlaganje objekta mobilnim robotom korištenjem vizualne povratne veze

završni rad

• Naslov (engleski): Vision based pick&place of a predefined object by using robotic arm on mobile robot
• Autor: Neven Čargonja
• Mentor: Stjepan Bogdan (mentor)
• Član povjerenstva: Stjepan Bogdan (predsjednik povjerenstva)
• Član povjerenstva: Frano Petric (član povjerenstva)
• Član povjerenstva: Ivan Hrabar (član povjerenstva)
• Ustanova koja je dodijelila akademski / stručni stupanj: Sveučilište u Zagrebu; Fakultet elektrotehnike i računarstva; Zagreb
• Datum i država obrane: 2019-07-18, Hrvatska
• Znanstveno / umjetničko područje, polje i grana: TEHNIČKE ZNANOSTI; Elektrotehnika

Sažetak

This thesis deals with the problem of detecting circular movement and calculating the
distance between two marker stands with the help of the OptiTrack motion capture system.
The first part explains the theoretical background needed to detect circular movement and
calculate the distance. To check if the information from OptiTrack gives the circular movement
first it is needed to find the plane of the points and rotate them to a two-dimensional
coordinate system. Using the least squares method the circle parameters are calculated. Opti-
Track gives the information about the top of the marker stand so to find the distance between
the bottom of the two marker stands transformation must be applied. In the second part
experimental setup and the given solution are described. Lastly, the results of the distances
calculated in two different ways are compared.

Sažetak (engleski)

Activation and deactivation of an electromagnet, using visual feedback link, is explained in this thesis. A 3D printer is used to print a model. The model is attached to robotic arm Schunka LWA4P and 3 electromagnets are attached to the model for accepting 2 kg weight object. In order to control the electromagnets, a flyduino – A servo controller is used, and USB and USB mini – B cable with FT232RL module is used to connect the microcontroller and the computer. The system is programmed in arduino IDE and ROS.

• Ključne riječi: flyduino; elektromagnet; ROS; OpenCV; arudino programska podrška
• Ključne riječi (engleski): flyduino; electromagnet; ROS; OpenCV; arduino IDE
• Jezik: hrvatski
• URN:NBN: urn:nbn:hr:168:538823
• Studijski program: Naziv: Elektrotehnika i informacijska tehnologija; Vrsta studija: sveučilišni; Stupanj studija: preddiplomski; Akademski / stručni naziv: sveučilišni/a prvostupnik/ prvostupnica (baccalaureus/baccalaurea) inženjer/inženjerka elektrotehnike i informacijske tehnologije (univ. bacc. ing. el. techn. inf.)
• Vrsta resursa: Tekst
• Način izrade datoteke: Izvorno digitalna
• Prava pristupa: Zatvoreni pristup
• Datum i vrijeme pohrane: 2020-01-07 17:19:28