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master's thesis
Vizualno upravljanje robotskim manipulatorom
Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing, 2020. urn:nbn:hr:168:332889
Maganić, Elena
University of Zagreb
Faculty of Electrical Engineering and Computing

Institutional repository: FER Repository

Cite this document

Maganić, E. (2020). Vizualno upravljanje robotskim manipulatorom (Master's thesis). Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing. Retrieved from https://urn.nsk.hr/urn:nbn:hr:168:332889

Maganić, Elena. "Vizualno upravljanje robotskim manipulatorom." Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2020. https://urn.nsk.hr/urn:nbn:hr:168:332889

Maganić, Elena. "Vizualno upravljanje robotskim manipulatorom." Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2020. https://urn.nsk.hr/urn:nbn:hr:168:332889

Maganić, E. (2020). 'Vizualno upravljanje robotskim manipulatorom', Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, accessed 09 August 2024, https://urn.nsk.hr/urn:nbn:hr:168:332889

Maganić E. Vizualno upravljanje robotskim manipulatorom [Master's thesis]. Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing; 2020 [cited 2024 August 09] Available at: https://urn.nsk.hr/urn:nbn:hr:168:332889

E. Maganić, "Vizualno upravljanje robotskim manipulatorom", Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, Zagreb, 2020. Available at: https://urn.nsk.hr/urn:nbn:hr:168:332889

Metadata
TitleVizualno upravljanje robotskim manipulatorom
Title (english)Visual servoing of a robotic manipulator
AuthorElena Maganić
MentorMarija Seder (mentor)
Committee memberMarija Seder (predsjednik povjerenstva)
Committee memberIvan Petrović (član povjerenstva)
Committee memberIvan Marković (član povjerenstva)
GranterUniversity of Zagreb
Faculty of Electrical Engineering and Computing
Zagreb
Defense date and country2020-07-10, Croatia
Scientific / art field,
discipline and subdiscipline		TECHNICAL SCIENCES
Electrical Engineering
Abstract
Vizualno upravljanje robotskim manipulatorom ima značajnu ulogu kada su nepoznate koordinate ciljanih pozicija manipulatora, ili manipulator nema dovoljnu preciznost pomaka. Preduvjet je izdavanje značajke iz slike koja predstavlja zadani cilj gibanja manipulatora. Klasični pristup upravljanja koji koristi značajke iz slike naziva se upravljanje zasnovano na poziciji. Značajke se izdvajaju iz slike i koriste se u kombinaciji s geometrijskim modelom cilja kako bi se odredio položaj cilja u odnosu na kameru. Nakon toga se upravlja gibanjem rješavanjem inverzne kinematike. Za razliku od upravljanja temeljenog na položaju, upravljanje temeljeno na slici koristi samo značajke izlučene iz slike. Obrađena su oba pristupa vizualnog upravljanja. Razvijen je algoritam vizualnom upravljanja na Baxteru.
Abstract (english)
Visual control of robot manipulators has a significant role when the coordinates of the target position are unknown, or the manipulator does not have sufficient accuracy of the displacement. The prerequisite is to release a feature from the image that represents the target goal of the manipulator motion. The classic approach of servoing that uses features from an image is called position based visual servoing. Features are extracted from the image and used in combination with a geometric model of the target to determine the pose of the target with respect to the camera. Then the motion is controlled by solving inverse kinematics. Unlike position image visual servoing, image based visual servoing uses only features extracted from the image. Both approaches of visual servoing has been discussed in this paper. A visual servoing algorithm has been developed on the Baxter.
Keywords
Keywords (english)
Languagecroatian
URN:NBNurn:nbn:hr:168:332889
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 on2023-01-13 12:56:04