prikaz prve stranice dokumenta Personalizirano daljinsko upravljanje bespilotnom letjelicom s robotskom rukom
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master's thesis
Personalizirano daljinsko upravljanje bespilotnom letjelicom s robotskom rukom
Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing, 2021. urn:nbn:hr:168:887209
Kopjar, Filip
University of Zagreb
Faculty of Electrical Engineering and Computing

Institutional repository: FER Repository

Cite this document

Kopjar, F. (2021). Personalizirano daljinsko upravljanje bespilotnom letjelicom s robotskom rukom (Master's thesis). Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing. Retrieved from https://urn.nsk.hr/urn:nbn:hr:168:887209

Kopjar, Filip. "Personalizirano daljinsko upravljanje bespilotnom letjelicom s robotskom rukom." Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2021. https://urn.nsk.hr/urn:nbn:hr:168:887209

Kopjar, Filip. "Personalizirano daljinsko upravljanje bespilotnom letjelicom s robotskom rukom." Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2021. https://urn.nsk.hr/urn:nbn:hr:168:887209

Kopjar, F. (2021). 'Personalizirano daljinsko upravljanje bespilotnom letjelicom s robotskom rukom', Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, accessed 22 November 2024, https://urn.nsk.hr/urn:nbn:hr:168:887209

Kopjar F. Personalizirano daljinsko upravljanje bespilotnom letjelicom s robotskom rukom [Master's thesis]. Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing; 2021 [cited 2024 November 22] Available at: https://urn.nsk.hr/urn:nbn:hr:168:887209

F. Kopjar, "Personalizirano daljinsko upravljanje bespilotnom letjelicom s robotskom rukom", Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, Zagreb, 2021. Available at: https://urn.nsk.hr/urn:nbn:hr:168:887209

Metadata
TitlePersonalizirano daljinsko upravljanje bespilotnom letjelicom s robotskom rukom
Title (english)Personalized remote control of an unmanned aerial vehicle with a robotic arm
AuthorFilip Kopjar
MentorStjepan Bogdan (mentor)
Committee memberStjepan Bogdan (predsjednik povjerenstva)
Committee memberZdenko Kovačić (član povjerenstva)
Committee memberGoran Vasiljević (član povjerenstva)
GranterUniversity of Zagreb
Faculty of Electrical Engineering and Computing
Zagreb
Defense date and country2021-07-09, Croatia
Scientific / art field,
discipline and subdiscipline		TECHNICAL SCIENCES
Electrical Engineering
Abstract
Sučelje čovjek-robot razvijeno na institutu EPFL je prilagođeno za rad sa simulacijskim modelom bespilotne letjelice s manipulatorom razvijenim na FER-u. Sučelje čovjek-robot je izvorno implementirano tako da koristi platformu Unity i ono omogućava personalizaciju daljinskog upravljanja bespilotnom letjelicom. Razvijeno je programsko rješenje koje omogučuje da sučelje koristi programsko okruženje ROS (Robotski Operacijski Sustav) za pokretanje letjelice u simulatoru Gazebo. Riješen je problem inverzne kinematike za manipulator koji se nalazi na letjelici. Razvijena je metoda ta planiranje trajektorije vrha alata robotske ruke. Prilagođen je proces personalizacije upravljanja za korištenje zadanog hardvera i softvera. Omogućeno je daljinsko upravljanje letjelicom u simulaciji.
Abstract (english)
Human-robot interface developed by the EPFL institute is adapted for use with a simulation model of an unmanned aerial vehicle equipped with a manipulator. Human-robot interface is originally designed for use with the Unity platform. The interface enables personalized remote control of a UAV. A software solution which enables the use of the interface with ROS (Robot Operating System) for communication with UAV model implemented in Gazebo simulator is developed. A solution is implemented for solving the inverse kinematics of the manipulator mounted on the UAV. A method for planning trajectories of the tool tip of the manipulator is developed. The process o personalized control mapping is adapted for use with the given software and hardware. Remote control of the UAV within the simulation environment is enabled.
Keywords
Keywords (english)
Languagecroatian
URN:NBNurn:nbn:hr:168:887209
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
Access conditionsClosed access
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Created on2023-01-13 12:42:39