prikaz prve stranice dokumenta Okvir programske podrške za dohvaćanje i postavljanje objekata robotskom rukom
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undergraduate thesis
Okvir programske podrške za dohvaćanje i postavljanje objekata robotskom rukom
Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing, 2024. urn:nbn:hr:168:749788
Duvančić, Josip
University of Zagreb
Faculty of Electrical Engineering and Computing

Institutional repository: FER Repository

Cite this document

Duvančić, J. (2024). Okvir programske podrške za dohvaćanje i postavljanje objekata robotskom rukom (Undergraduate thesis). Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing. Retrieved from https://urn.nsk.hr/urn:nbn:hr:168:749788

Duvančić, Josip. "Okvir programske podrške za dohvaćanje i postavljanje objekata robotskom rukom." Undergraduate thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2024. https://urn.nsk.hr/urn:nbn:hr:168:749788

Duvančić, Josip. "Okvir programske podrške za dohvaćanje i postavljanje objekata robotskom rukom." Undergraduate thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2024. https://urn.nsk.hr/urn:nbn:hr:168:749788

Duvančić, J. (2024). 'Okvir programske podrške za dohvaćanje i postavljanje objekata robotskom rukom', Undergraduate thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, accessed 27 December 2024, https://urn.nsk.hr/urn:nbn:hr:168:749788

Duvančić J. Okvir programske podrške za dohvaćanje i postavljanje objekata robotskom rukom [Undergraduate thesis]. Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing; 2024 [cited 2024 December 27] Available at: https://urn.nsk.hr/urn:nbn:hr:168:749788

J. Duvančić, "Okvir programske podrške za dohvaćanje i postavljanje objekata robotskom rukom", Undergraduate thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, Zagreb, 2024. Available at: https://urn.nsk.hr/urn:nbn:hr:168:749788

Metadata
TitleOkvir programske podrške za dohvaćanje i postavljanje objekata robotskom rukom
Title (english)A software framework for object pick-and-place with a robotic arm
AuthorJosip Duvančić
MentorIvan Marković (mentor)
Committee memberIvan Marković (član povjerenstva)
Committee memberVlaho-Josip Štironja (član povjerenstva)
Committee memberJelena Gregorić (član povjerenstva)
GranterUniversity of Zagreb
Faculty of Electrical Engineering and Computing
Zagreb
Defense date and country2024-07-08, Croatia
Scientific / art field,
discipline and subdiscipline		TECHNICAL SCIENCES
Computing
Abstract
Ovaj završni rad bavi se razvojem softverskog okvira za dohvaćanje i postavljanje objekata robotskom rukom, što predstavlja jedan od temeljnih problema u robotici s potencijalnom primjenom u različitim industrijskim granama. Rad obuhvaća teorijske osnove robotike te njihovu praktičnu primjenu u simuliranom okruženju. U teorijskom dijelu, rad objašnjava ključne koncepte poput Denavit-Hartenbergovih parametara za opisivanje kinematičkih lanaca robota, metode za rješavanje problema inverzne kinematike, te komponente sustava robotskog vida. Praktični dio projekta uklju- čuje implementaciju zadatka dohvaćanja i postavljanja objekata koristeći robotski mani- pulator Kinova Gen3 u simuliranom okruženju, pri čemu se koriste Robotski Operacijski Sustav (ROS) i Gazebo simulator. Ovaj projekt pruža temelj za daljnja istraživanja u području robotske manipulacije, s potencijalnim proširenjima koja uključuju implementaciju na stvarnom robotu i ra- zvoj adaptivnih kontrolnih algoritama. Time se doprinosi napretku u automatizaciji i robotici, s ciljem unaprjeđenja učinkovitosti i preciznosti u industrijskim i drugim primjenama.
Abstract (english)
This final thesis focuses on developing a software framework for picking and placing objects using a robotic arm, which represents one of the fundamental problems in robotics with potential applications in various industrial sectors. The work encompasses theoretical foundations of robotics and their practical application in a simulated environment. In the theoretical part, the thesis explains key concepts such as Denavit-Hartenberg parameters for describing kinematic chains of robots, methods for solving inverse kinematics problems, and components of robotic vision systems. The practical part of the project includes the implementation of a pick-and-place task using the Kinova Gen3 robotic manipulator in a simulated environment, utilizing the Robot Operating System (ROS) and Gazebo simulator. This project provides a foundation for further research in the field of robotic manipulation, with potential extensions including implementation on a real robot and development of adaptive control algorithms. This contributes to advancements in automation and robotics, aiming to improve efficiency and precision in industrial and other applications.
Keywords
Keywords (english)
Languagecroatian
URN:NBNurn:nbn:hr:168:749788
Study programmeTitle: Computing
Study programme type: university
Study level: undergraduate
Academic / professional title: sveučilišni/a prvostupnik/ prvostupnica (baccalaureus/baccalaurea) inženjer/inženjerka računarstva (sveučilišni/a prvostupnik/ prvostupnica (baccalaureus/baccalaurea) inženjer/inženjerka računarstva)
Type of resourceText
File originBorn digital
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Created on2024-10-12 20:29:26