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undergraduate thesis
Prihvat i odlaganje objekta mobilnim robotom korištenjem vizualne povratne veze
Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing, 2019. urn:nbn:hr:168:538823
Čargonja, Neven
University of Zagreb
Faculty of Electrical Engineering and Computing

Institutional repository: FER Repository

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Čargonja, N. (2019). Prihvat i odlaganje objekta mobilnim robotom korištenjem vizualne povratne veze (Undergraduate thesis). Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing. Retrieved from https://urn.nsk.hr/urn:nbn:hr:168:538823

Čargonja, Neven. "Prihvat i odlaganje objekta mobilnim robotom korištenjem vizualne povratne veze." Undergraduate thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2019. https://urn.nsk.hr/urn:nbn:hr:168:538823

Čargonja, Neven. "Prihvat i odlaganje objekta mobilnim robotom korištenjem vizualne povratne veze." Undergraduate thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2019. https://urn.nsk.hr/urn:nbn:hr:168:538823

Čargonja, N. (2019). 'Prihvat i odlaganje objekta mobilnim robotom korištenjem vizualne povratne veze', Undergraduate thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, accessed 04 November 2024, https://urn.nsk.hr/urn:nbn:hr:168:538823

Čargonja N. Prihvat i odlaganje objekta mobilnim robotom korištenjem vizualne povratne veze [Undergraduate thesis]. Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing; 2019 [cited 2024 November 04] Available at: https://urn.nsk.hr/urn:nbn:hr:168:538823

N. Čargonja, "Prihvat i odlaganje objekta mobilnim robotom korištenjem vizualne povratne veze", Undergraduate thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, Zagreb, 2019. Available at: https://urn.nsk.hr/urn:nbn:hr:168:538823

Metadata
TitlePrihvat i odlaganje objekta mobilnim robotom korištenjem vizualne povratne veze
Title (english)Vision based pick&place of a predefined object by using robotic arm on mobile robot
AuthorNeven Čargonja
MentorStjepan Bogdan (mentor)
Committee memberStjepan Bogdan (predsjednik povjerenstva)
Committee memberFrano Petric (član povjerenstva)
Committee memberIvan Hrabar (član povjerenstva)
GranterUniversity of Zagreb
Faculty of Electrical Engineering and Computing
Zagreb
Defense date and country2019-07-18, Croatia
Scientific / art field,
discipline and subdiscipline		TECHNICAL SCIENCES
Electrical Engineering
Abstract
This thesis deals with the problem of detecting circular movement and calculating the distance between two marker stands with the help of the OptiTrack motion capture system. The first part explains the theoretical background needed to detect circular movement and calculate the distance. To check if the information from OptiTrack gives the circular movement first it is needed to find the plane of the points and rotate them to a two-dimensional coordinate system. Using the least squares method the circle parameters are calculated. Opti- Track gives the information about the top of the marker stand so to find the distance between the bottom of the two marker stands transformation must be applied. In the second part experimental setup and the given solution are described. Lastly, the results of the distances calculated in two different ways are compared.
Abstract (english)
Activation and deactivation of an electromagnet, using visual feedback link, is explained in this thesis. A 3D printer is used to print a model. The model is attached to robotic arm Schunka LWA4P and 3 electromagnets are attached to the model for accepting 2 kg weight object. In order to control the electromagnets, a flyduino – A servo controller is used, and USB and USB mini – B cable with FT232RL module is used to connect the microcontroller and the computer. The system is programmed in arduino IDE and ROS.
Keywords
Keywords (english)
Languagecroatian
URN:NBNurn:nbn:hr:168:538823
Study programmeTitle: Electrical Engineering and Information Technology
Study programme type: university
Study level: undergraduate
Academic / professional title: sveučilišni/a prvostupnik/ prvostupnica (baccalaureus/baccalaurea) inženjer/inženjerka elektrotehnike i informacijske tehnologije (sveučilišni/a prvostupnik/ prvostupnica (baccalaureus/baccalaurea) inženjer/inženjerka elektrotehnike i informacijske tehnologije)
Type of resourceText
File originBorn digital
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Created on2020-01-07 17:19:28