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master's thesis
Sustav upravljanja robotskim manipulatorom pomoću 3D kamere u ROS okviru
Osijek: Josip Juraj Strossmayer University of Osijek, Faculty of Electrical Engineering, Computer Science and Information Technology Osijek, 2018. urn:nbn:hr:200:974415
Meisel, Marko
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

Meisel, M. (2018). Sustav upravljanja robotskim manipulatorom pomoću 3D kamere u ROS okviru (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:200:974415

Meisel, Marko. "Sustav upravljanja robotskim manipulatorom pomoću 3D kamere u ROS okviru." Master's thesis, Josip Juraj Strossmayer University of Osijek, Faculty of Electrical Engineering, Computer Science and Information Technology Osijek, 2018. https://urn.nsk.hr/urn:nbn:hr:200:974415

Meisel, Marko. "Sustav upravljanja robotskim manipulatorom pomoću 3D kamere u ROS okviru." Master's thesis, Josip Juraj Strossmayer University of Osijek, Faculty of Electrical Engineering, Computer Science and Information Technology Osijek, 2018. https://urn.nsk.hr/urn:nbn:hr:200:974415

Meisel, M. (2018). 'Sustav upravljanja robotskim manipulatorom pomoću 3D kamere u ROS okviru', Master's thesis, Josip Juraj Strossmayer University of Osijek, Faculty of Electrical Engineering, Computer Science and Information Technology Osijek, accessed 21 May 2024, https://urn.nsk.hr/urn:nbn:hr:200:974415

Meisel M. Sustav upravljanja robotskim manipulatorom pomoću 3D kamere u ROS okviru [Master's thesis]. Osijek: Josip Juraj Strossmayer University of Osijek, Faculty of Electrical Engineering, Computer Science and Information Technology Osijek; 2018 [cited 2024 May 21] Available at: https://urn.nsk.hr/urn:nbn:hr:200:974415

M. Meisel, "Sustav upravljanja robotskim manipulatorom pomoću 3D kamere u ROS okviru", Master's thesis, Josip Juraj Strossmayer University of Osijek, Faculty of Electrical Engineering, Computer Science and Information Technology Osijek, Osijek, 2018. Available at: https://urn.nsk.hr/urn:nbn:hr:200:974415

Metadata
TitleSustav upravljanja robotskim manipulatorom pomoću 3D kamere u ROS okviru
Title (english)System for robot manipulator control using 3D camera based on ROS
AuthorMarko Meisel
MentorRobert Cupec (mentor)
Committee memberRobert Cupec (predsjednik povjerenstva)
Committee memberEmmanuel Karlo Nyarko (član povjerenstva)
Committee memberDamir Filko (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 country2018-10-02, Croatia
Scientific / art field,
discipline and subdiscipline		TECHNICAL SCIENCES
Computing
Process Computing
Abstract
U radu je obrađena izrada sustava upravljanja robotskim manipulatorom korištenjem ROS okvira, gdje je kao primjer korištenja ovakvog sustava dan program za kalibraciju 3D kamere. Opisano programsko rješenje realizirano je korištenjem programskog jezika Python. U radu je opisana izrada vizualnih i kolizijskih modela korištenjem alata Solidworks i Meshlab te izrada URDF datoteke. Korištenjem URDF datoteke i programskog alata openRAVE opisana je izrada kinematičkih dodataka za direktnu i inverznu kinematiku korištenog robotskog manipulatora. Cjelokupni realizirani sustav testiran je na industrijskom robotskom manipulatoru ABB IRB 2400L. Komunikacija ROS okvira i kamere testirana je korištenjem RGB-D kamere Orbbec Astra. Točnost izrađenog sustava ispitana je eksperimentalno korištenjem zadanih pozicija vrha alata i pozicija očitanih na kontroleru korištenog industrijskog robota.
Abstract (english)
In this thesis development of robotic manipulator control using ROS framework is described. As an application example of developed system, 3D camera calibration program is presented. The presented solution was implemented using Python programming language. This thesis also describes creation of visual and collision model using Solidworks and Meshlab tools and creation of a URDF file. Kinematics add-ons were created using the URDF file and openRAVE environment. The system was implemented and tested on an industrial robotic manipulator ABB IRB 2400L. Communication between ROS and the camera was tested using RGB-D camera Orbbec Astra. The accuracy of the developed system was experimentally tested by comparing a sequence of target tool positions with the positions from controller of the used robotic manipulator.
Keywords
Keywords (english)
Languagecroatian
URN:NBNurn:nbn:hr:200:974415
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 on2018-10-17 06:13:47