prikaz prve stranice dokumenta Planiranje gibanja robotske ruke imitacijom pokreta čovjeka praćenog monokularnom kamerom
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master's thesis
Planiranje gibanja robotske ruke imitacijom pokreta čovjeka praćenog monokularnom kamerom
Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing, 2024. urn:nbn:hr:168:905660
Jambrešić, Ana
University of Zagreb
Faculty of Electrical Engineering and Computing

Institutional repository: FER Repository

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Jambrešić, A. (2024). Planiranje gibanja robotske ruke imitacijom pokreta čovjeka praćenog monokularnom kamerom (Master's thesis). Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing. Retrieved from https://urn.nsk.hr/urn:nbn:hr:168:905660

Jambrešić, Ana. "Planiranje gibanja robotske ruke imitacijom pokreta čovjeka praćenog monokularnom kamerom." Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2024. https://urn.nsk.hr/urn:nbn:hr:168:905660

Jambrešić, Ana. "Planiranje gibanja robotske ruke imitacijom pokreta čovjeka praćenog monokularnom kamerom." Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2024. https://urn.nsk.hr/urn:nbn:hr:168:905660

Jambrešić, A. (2024). 'Planiranje gibanja robotske ruke imitacijom pokreta čovjeka praćenog monokularnom kamerom', Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, accessed 04 November 2024, https://urn.nsk.hr/urn:nbn:hr:168:905660

Jambrešić A. Planiranje gibanja robotske ruke imitacijom pokreta čovjeka praćenog monokularnom kamerom [Master's thesis]. Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing; 2024 [cited 2024 November 04] Available at: https://urn.nsk.hr/urn:nbn:hr:168:905660

A. Jambrešić, "Planiranje gibanja robotske ruke imitacijom pokreta čovjeka praćenog monokularnom kamerom", Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, Zagreb, 2024. Available at: https://urn.nsk.hr/urn:nbn:hr:168:905660

Metadata
TitlePlaniranje gibanja robotske ruke imitacijom pokreta čovjeka praćenog monokularnom kamerom
Title (english)Robot arm motion planning by imitating human motion tracked with a monocular camera
AuthorAna Jambrešić
MentorMarija Seder (mentor)
Committee memberIvan Marković (predsjednik povjerenstva)
Committee memberIvan Petrović (član povjerenstva)
Committee memberLuka Petrović (član povjerenstva)
GranterUniversity of Zagreb
Faculty of Electrical Engineering and Computing
Zagreb
Defense date and country2024-07-10, Croatia
Abstract
Razvoj sposobnosti robota da imitira ljudske pokrete znatno je transformirao industriju a tako i svakodnevni život. Ovaj diplomski rad fokusira se na razvoj sustava za praćenje pokreta čovjeka monokularnom kamerom te pretvorba tog pokreta u digitalni oblik i izvršavanje na robotskoj ruci Kinova Jaco. Korištenje samo monokularne kamere uklanja potrebu za složenom i skupom kamerom te čini proces teleoperacije intuitivnim i pristupačnim. U radu se primjenjuju algoritmi inverzne, direktne i diferencijalne kinematike za upravljanje robotskom rukom te model neuronske mreže otvorenog koda za detekciju i analizu pokreta ruku čovjeka. Integracija s ROS sustavom omogućava efikasno prenošenje ljudskog pokreta na robotsku ruku u stvarnom vremenu. Testiranje sustava je provedeno kroz simulacije u Gazebo okruženju te praktičnim eksperimentima s Kinova Jaco robotskom rukom.
Abstract (english)
The development of robots capabilities to imitate human movements has significantly transformed the industry as well as everyday life. This thesis focuses on developing a system for tracking human movements using a monocular camera, converting these movements into digital form, and executing them on the Kinova Jaco robotic arm. The use of only a monocular camera eliminates the need for complex and expensive equipment, making the teleoperation process intuitive and accessible. The study applies algorithms for inverse, forward, and differential kinematics for controlling the robotic arm and an open-source neural network model for detecting and analyzing human hand movements. Integration with the ROS system enables efficient transfer of human motion to the robotic arm in real-time. System testing was conducted through simulations in the Gazebo environment and practical experiments with the Kinova Jaco robotic arm.
Keywords
Keywords (english)
Languagecroatian
URN:NBNurn:nbn:hr:168:905660
Study programmeTitle: Information and Communication Technology
Study programme type: university
Study level: graduate
Academic / professional title: magistar/magistra inženjer/inženjerka informacijske i komunikacijske tehnologije (magistar/magistra inženjer/inženjerka informacijske i komunikacijske tehnologije)
Type of resourceText
File originBorn digital
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Created on2024-10-12 20:55:19