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master's thesis
Ispitivanje simulatora heterogenih robotskih sustava s visokom razinom realizma
Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing, 2022. urn:nbn:hr:168:983552
Rajković, Karlo
University of Zagreb
Faculty of Electrical Engineering and Computing

Institutional repository: FER Repository

Cite this document

Rajković, K. (2022). Ispitivanje simulatora heterogenih robotskih sustava s visokom razinom realizma (Master's thesis). Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing. Retrieved from https://urn.nsk.hr/urn:nbn:hr:168:983552

Rajković, Karlo. "Ispitivanje simulatora heterogenih robotskih sustava s visokom razinom realizma." Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2022. https://urn.nsk.hr/urn:nbn:hr:168:983552

Rajković, Karlo. "Ispitivanje simulatora heterogenih robotskih sustava s visokom razinom realizma." Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2022. https://urn.nsk.hr/urn:nbn:hr:168:983552

Rajković, K. (2022). 'Ispitivanje simulatora heterogenih robotskih sustava s visokom razinom realizma', Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, accessed 04 November 2024, https://urn.nsk.hr/urn:nbn:hr:168:983552

Rajković K. Ispitivanje simulatora heterogenih robotskih sustava s visokom razinom realizma [Master's thesis]. Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing; 2022 [cited 2024 November 04] Available at: https://urn.nsk.hr/urn:nbn:hr:168:983552

K. Rajković, "Ispitivanje simulatora heterogenih robotskih sustava s visokom razinom realizma", Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, Zagreb, 2022. Available at: https://urn.nsk.hr/urn:nbn:hr:168:983552

Metadata
TitleIspitivanje simulatora heterogenih robotskih sustava s visokom razinom realizma
Title (english)Analysis of photorealistic simulators for heterogeneous robotic systems
AuthorKarlo Rajković
MentorMatko Orsag (mentor)
Committee memberMatko Orsag (član povjerenstva)
Committee memberZdenko Kovačić (član povjerenstva)
Committee memberTamara Petrović (član povjerenstva)
GranterUniversity of Zagreb
Faculty of Electrical Engineering and Computing
Zagreb
Defense date and country2022-07-13, Croatia
Scientific / art field,
discipline and subdiscipline		TECHNICAL SCIENCES
Electrical Engineering
Abstract
Na početku rada prolazi se kroz najvažnije značajke Isaac Sim simulatora, sa dodatnim osvrtom na definiranje robotskog modela u simulatoru. Sve mogućnosti povezivanja s ROSom prikazane su na primjeru modela robota koji se sastoji od phr robota razvijenog u Gideonu te Franka robotske ruke. Koristeći postojeći Python API napisana je skripta u kojoj se između ostalog pokreće nova instanca simulatora, definiraju senzori na robotu i ažurira simulacija. Za završetak rada provedena je jednostavna robotska misija koja obuhvaća navigaciju mobilnim robotom te pokretanje robotske ruke sa MoveIt ROS paketom.
Abstract (english)
The work disseminated in this thesis starts with the explanation of the most important aspects of the Isaac Sim simulator, as well as showing in detail how to define a simulated robot model. All the things the simulator offers in regards to connecting it with ROS are shown on an example robot model that consists of a phr robot developed in Gideon and Franka robotic arm. Using the existing Python API a script was made which among other things is used for starting a new instance of the simulator, defining the robot sensors and updating the simulation. For the final part of the thesis a simple mission was conducted which incoporated navigating the mobile robot through the scene and controlling the robot arm using MoveIt ROS package.
Keywords
Keywords (english)
Languagecroatian
URN:NBNurn:nbn:hr:168:983552
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 on2023-01-14 09:49:42