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master's thesis
Robotska manipulacija primjenom računalnog vida
Osijek: Josip Juraj Strossmayer University of Osijek, Faculty of Electrical Engineering, Computer Science and Information Technology Osijek, 2018. urn:nbn:hr:200:019942
Mihaljević, Maja
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

Mihaljević, M. (2018). Robotska manipulacija primjenom računalnog vida (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:200:019942

Mihaljević, Maja. "Robotska manipulacija primjenom računalnog vida." 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:200:019942

Mihaljević, Maja. "Robotska manipulacija primjenom računalnog vida." 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:200:019942

Mihaljević, M. (2018). 'Robotska manipulacija primjenom računalnog vida', 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:200:019942

Mihaljević M. Robotska manipulacija primjenom računalnog vida [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:200:019942

M. Mihaljević, "Robotska manipulacija primjenom računalnog vida", 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:200:019942

Metadata
TitleRobotska manipulacija primjenom računalnog vida
Title (english)Vision based robot manipulation
AuthorMaja Mihaljević
MentorRobert Cupec (mentor)
MentorPetra Đurović (mentor)
Committee memberRobert Cupec (predsjednik povjerenstva)
Committee memberEmmanuel Karlo Nyarko (član povjerenstva)
Committee memberPetra Đurović (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 country2018-09-28, Croatia
Scientific / art field,
discipline and subdiscipline		TECHNICAL SCIENCES
Computing
Process Computing
Abstract
Opisan je sustav koji omogućuje pozicioniranje alata robotske ruke i hvatanje objekata pomoću informacija dobivenih RGB-D kamerom. Korištena je metoda kalibracije kamere i robotske ruke koja se provodi u dvije faze; prva je određivanje dominantne ravnine, a druga uključuje pokret prvog rotacijskog zgloba za poznati kut. Ovi parametri dovoljni su za vizualni servoing pomoću kojeg se alat pozicionira na željenu poziciju, odnosno točku hvatanja. Odgovarajućim programom za prepoznavanje objekata određuje se prisustvo objekta od interesa na sceni te njegov položaj u odnosu na kameru. Točka hvatanja definirana je u odnosu na referentni koordinatni sustav modela objekta od strane korisnika. Nakon određivanja točke hvatanja, računa se kut rotacije alata kako bi se objekt mogao uhvatiti i premjestiti na željeno odredište. Funkcionalnost razvijenog sustava ispitana je pokusima na stvarnoj robotskoj ruci.
Abstract (english)
A system for vision-based tool positioning and grasp planning is described. The camera calibration method is carried out in two phases: the first phase includes detection of the dominant plane, and the second involves the movement of the first rotational joint for a known angle difference. These parameters are sufficient for visual servoing. The target position of the tool is determined by detecting object of interest in an image using an object recognition program. The grasp point is defined by the user in relation to the reference frame of the object model. After determining the grasping point, the rotation angle of the tool is calculated so that the object can fit in and can be moved to a desired destination. The developed system is experimentally tested using a real robot arm.
Keywords
Keywords (english)
Languagecroatian
URN:NBNurn:nbn:hr:200:019942
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 10:54:10