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master's thesis
Kalibracija robotske ruke i kamere za robotsku manipulaciju zasnovanu na vizualnom servoingu
Osijek: Josip Juraj Strossmayer University of Osijek, Faculty of Electrical Engineering, Computer Science and Information Technology Osijek, 2017. urn:nbn:hr:200:606415
Tošeski, Marina
Josip Juraj Strossmayer University of Osijek
Faculty of Electrical Engineering, Computer Science and Information Technology Osijek
Department of Computer Engineering and Automation
Chair of Automation and Robotics

Institutional repository: Faculty of Electrical Engineering, Computer Science and Information Technology Osijek

Cite this document

Tošeski, M. (2017). Kalibracija robotske ruke i kamere za robotsku manipulaciju zasnovanu na vizualnom servoingu (Master's thesis). Osijek: Josip Juraj Strossmayer University of Osijek, Faculty of Electrical Engineering, Computer Science and Information Technology Osijek. Retrieved from https://urn.nsk.hr/urn:nbn:hr:200:606415

Tošeski, Marina. "Kalibracija robotske ruke i kamere za robotsku manipulaciju zasnovanu na vizualnom servoingu." Master's thesis, Josip Juraj Strossmayer University of Osijek, Faculty of Electrical Engineering, Computer Science and Information Technology Osijek, 2017. https://urn.nsk.hr/urn:nbn:hr:200:606415

Tošeski, Marina. "Kalibracija robotske ruke i kamere za robotsku manipulaciju zasnovanu na vizualnom servoingu." Master's thesis, Josip Juraj Strossmayer University of Osijek, Faculty of Electrical Engineering, Computer Science and Information Technology Osijek, 2017. https://urn.nsk.hr/urn:nbn:hr:200:606415

Tošeski, M. (2017). 'Kalibracija robotske ruke i kamere za robotsku manipulaciju zasnovanu na vizualnom servoingu', Master's thesis, Josip Juraj Strossmayer University of Osijek, Faculty of Electrical Engineering, Computer Science and Information Technology Osijek, accessed 27 December 2024, https://urn.nsk.hr/urn:nbn:hr:200:606415

Tošeski M. Kalibracija robotske ruke i kamere za robotsku manipulaciju zasnovanu na vizualnom servoingu [Master's thesis]. Osijek: Josip Juraj Strossmayer University of Osijek, Faculty of Electrical Engineering, Computer Science and Information Technology Osijek; 2017 [cited 2024 December 27] Available at: https://urn.nsk.hr/urn:nbn:hr:200:606415

M. Tošeski, "Kalibracija robotske ruke i kamere za robotsku manipulaciju zasnovanu na vizualnom servoingu", Master's thesis, Josip Juraj Strossmayer University of Osijek, Faculty of Electrical Engineering, Computer Science and Information Technology Osijek, Osijek, 2017. Available at: https://urn.nsk.hr/urn:nbn:hr:200:606415

Metadata
TitleKalibracija robotske ruke i kamere za robotsku manipulaciju zasnovanu na vizualnom servoingu
Title (english)Hand-eye calibration for robot manipulation based on visual servoing
AuthorMarina Tošeski
MentorRobert Cupec (mentor)
MentorPetra Đurović (mentor)
Committee memberRobert Cupec (predsjednik povjerenstva)
Committee memberIrena Galić (član povjerenstva)
Committee memberRatko Grbić (član povjerenstva)
GranterJosip Juraj Strossmayer University of Osijek
Faculty of Electrical Engineering, Computer Science and Information Technology Osijek
(Department of Computer Engineering and Automation)
(Chair of Automation and Robotics)
Osijek
Defense date and country2017-09-28, Croatia
Scientific / art field,
discipline and subdiscipline		TECHNICAL SCIENCES
Computing
Process Computing
Abstract
Razvijen je računalni program za kalibraciju robotskog manipulatora i kamere, koji na temelju niza slika dobivenih kamerom određuje odnos koordinatnog sustava kamere i koordinatnog sustava robotskog manipulatora. Točnost kalibracije ispitana je pokusima s robotskim manipulatorom. Kalibracija se vrši nad Dobot ARM V1.0 te RGB-D Orbbec Astra S kamerom U radu je obrađena primjena računalnog vida, kao i teorijsko rješenje problema kalibracije primjenom rješenja zatvorenog oblika. Navedeno rješenje kao rezultat daje homogenu transformacijsku matricu između koordinatnog sustava korištenog robotskog manipulatora i kamere. Točnost kalibracije, koja se postiže razvijenim programom, eksperimentalno je ispitana mjerenjem odstupanja pozicija alata izmjerenih sustavom računalnog vida od pozicija zadanih robotskom manipulatoru. Također je ispitana i primjena razmatrane kalibracije za vizualni servoing.
Abstract (english)
A computer program for calibration of a robotic arm and a camera has been developed, which, based on series of images obtained by the camera, determines the relative pose between the camera coordinate systems and the robotic arm coordinate system. Calibration accuracy has been tested experimentally. Calibration is performed on Dobot ARM V1.0 and RGB-D Orbbec Astra S camera. Application of computer vision in robotics is discussed. A teoretical closed-form solution to the considered calibration problem is described, which gives a homogenous transformation matix between the camera coordinate system and the robotic arm coordinate system as the result. Calibration accuracy, achieved by the developed program, is tested experimentally by measuring the difference between the tool positions measured by computer vision and the positions given to the robotic arm. Furthermore, application of the considered calibration for visual servoing was tested.
Keywords
Keywords (english)
Languagecroatian
URN:NBNurn:nbn:hr:200:606415
Study programmeTitle: Graduate University Study Programme in Computer Engineering
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 conditionsOpen access
Terms of useLicence In copyright icon
Created on2017-10-25 16:14:00