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master's thesis
Podatna manipulacija osjetljivih predmeta paralelnom hvataljkom
Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing, 2020. urn:nbn:hr:168:799762
Vuletić, Jelena
University of Zagreb
Faculty of Electrical Engineering and Computing

Institutional repository: FER Repository

Cite this document

Vuletić, J. (2020). Podatna manipulacija osjetljivih predmeta paralelnom hvataljkom (Master's thesis). Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing. Retrieved from https://urn.nsk.hr/urn:nbn:hr:168:799762

Vuletić, Jelena. "Podatna manipulacija osjetljivih predmeta paralelnom hvataljkom." Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2020. https://urn.nsk.hr/urn:nbn:hr:168:799762

Vuletić, Jelena. "Podatna manipulacija osjetljivih predmeta paralelnom hvataljkom." Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2020. https://urn.nsk.hr/urn:nbn:hr:168:799762

Vuletić, J. (2020). 'Podatna manipulacija osjetljivih predmeta paralelnom hvataljkom', Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, accessed 25 July 2024, https://urn.nsk.hr/urn:nbn:hr:168:799762

Vuletić J. Podatna manipulacija osjetljivih predmeta paralelnom hvataljkom [Master's thesis]. Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing; 2020 [cited 2024 July 25] Available at: https://urn.nsk.hr/urn:nbn:hr:168:799762

J. Vuletić, "Podatna manipulacija osjetljivih predmeta paralelnom hvataljkom", Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, Zagreb, 2020. Available at: https://urn.nsk.hr/urn:nbn:hr:168:799762

Metadata
TitlePodatna manipulacija osjetljivih predmeta paralelnom hvataljkom
Title (english)Compliant parallel gripper manipulation for soft objects
AuthorJelena Vuletić
MentorMatko Orsag (mentor)
Committee memberMatko Orsag (predsjednik povjerenstva)
Committee memberStjepan Bogdan (član povjerenstva)
Committee memberZdenko Kovačić (član povjerenstva)
GranterUniversity of Zagreb
Faculty of Electrical Engineering and Computing
Zagreb
Defense date and country2020-07-16, Croatia
Scientific / art field,
discipline and subdiscipline		TECHNICAL SCIENCES
Electrical Engineering
Abstract
Rad se bavi problemom izgradnje 3D modela osjetljivih objekata na osnovu podataka sa RGB-D kamere i senzora sile koji su pričvršćeni na Franka Emika Panda robota. Sustav za podatnu manipulaciju objekata, čiji je izlaz 3D model, razvijen je u simulacijskom okruženju i sastoji se od nekoliko dijelova. Prvi dio sustava je detekcija objekata. Problem detekcije riješen je korištenje neuronske mreže. Nakon detekcije, prelazi se na planiranje gibanja koje je ostvareno korištenjem MoveIt!-a. Problem izbora točke hvata također je riješen korištenjem neuronske mreže. Za upravljanje paralelnom hvataljkom robotskog manipulatora koristi se impedantni regulator. Konačno, za izradu 3D modela korišten je point cloud zapis. U sklopu rada prikazana je teorijska podloga svih navedenih podzadataka te je razvijen je ROS paket koji omogućuje pokretanje potpuno automatiziranog sustava za podatnu manipulaciju objekata.
Abstract (english)
The thesis deals with the problem of creating a 3D model of soft objects based on the data from RGB-D camera and force sensors attached to Franka Emika Panda robot. System for compliant manipulation, which outputs such 3D model, is developed in simulation environment and it consists of several parts. First part of the system is an object detection. Object detection problem is solved using neural network. Detection is followed by motion planning, which is achieved using MoveIt! framework. Grasping problem is solved using neural network approach. Impedance control is implemented for controlling a parallel gripper. Finally, 3D model is written in the point cloud format. Theoretical background of all of the sub-tasks is given in the thesis alongside with the implementation of developed algorithms, which can be run completely autonomously using ROS package which was developed as a part of the thesis.
Keywords
Keywords (english)
Languagecroatian
URN:NBNurn:nbn:hr:168:799762
Study programmeTitle: Electrical Engineering and Information Technology
Study programme type: university
Study level: graduate
Academic / professional title: magistar/magistra inženjer/inženjerka elektrotehnike i informacijske tehnologije (magistar/magistra inženjer/inženjerka elektrotehnike i informacijske tehnologije)
Type of resourceText
File originBorn digital
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Created on2023-01-15 11:22:01