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undergraduate thesis
Adaptivni sustav za preciznu manipulaciju objekata s robotskom rukom upotrebom promjenjivih kamera i ugradbene računalne platforme
Zagreb: University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, 2024. urn:nbn:hr:235:246852
Završki, Luka
University of Zagreb
Faculty of Mechanical Engineering and Naval Architecture

Institutional repository: Repository of Faculty of Mechanical Engineering and Naval Architecture University of Zagreb

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Završki, L. (2024). Adaptivni sustav za preciznu manipulaciju objekata s robotskom rukom upotrebom promjenjivih kamera i ugradbene računalne platforme (Undergraduate thesis). Zagreb: University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture. Retrieved from https://urn.nsk.hr/urn:nbn:hr:235:246852

Završki, Luka. "Adaptivni sustav za preciznu manipulaciju objekata s robotskom rukom upotrebom promjenjivih kamera i ugradbene računalne platforme." Undergraduate thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, 2024. https://urn.nsk.hr/urn:nbn:hr:235:246852

Završki, Luka. "Adaptivni sustav za preciznu manipulaciju objekata s robotskom rukom upotrebom promjenjivih kamera i ugradbene računalne platforme." Undergraduate thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, 2024. https://urn.nsk.hr/urn:nbn:hr:235:246852

Završki, L. (2024). 'Adaptivni sustav za preciznu manipulaciju objekata s robotskom rukom upotrebom promjenjivih kamera i ugradbene računalne platforme', Undergraduate thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, accessed 26 December 2024, https://urn.nsk.hr/urn:nbn:hr:235:246852

Završki L. Adaptivni sustav za preciznu manipulaciju objekata s robotskom rukom upotrebom promjenjivih kamera i ugradbene računalne platforme [Undergraduate thesis]. Zagreb: University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture; 2024 [cited 2024 December 26] Available at: https://urn.nsk.hr/urn:nbn:hr:235:246852

L. Završki, "Adaptivni sustav za preciznu manipulaciju objekata s robotskom rukom upotrebom promjenjivih kamera i ugradbene računalne platforme", Undergraduate thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, Zagreb, 2024. Available at: https://urn.nsk.hr/urn:nbn:hr:235:246852

Metadata
TitleAdaptivni sustav za preciznu manipulaciju objekata s robotskom rukom upotrebom promjenjivih kamera i ugradbene računalne platforme
Title (english)Adaptive system for precise manipulation of objects with a robotic arm using exchangeable cameras and embedded computing platform
AuthorLuka Završki
MentorFilip Šuligoj (mentor)
GranterUniversity of Zagreb
Faculty of Mechanical Engineering and Naval Architecture
Zagreb
Defense date and country2024-09-26, Croatia
Scientific / art field,
discipline and subdiscipline		TECHNICAL SCIENCES
Mechanical Engineering
Abstract
U ovom radu integrira se sustava upravljanja robotom i sustav strojnog vida s 2 kamere s Jetson Nano računalom. Odabrano je programiranje aplikacija u C++ programskom jeziku koji je efikasan i ima široku podršku za specijalizirane biblioteke kao što su OpenCV i ur_rtde. Te biblioteke omogućuju obradu i analizu slika, kalibraciju kamera, lokalizaciju predmeta i upravljanje UR robota u stvarnom vremenu. Tijekom rada izrađuju se i prilagođena kućišta pomoću kojih se Jetson Nano računalo i dvije kamere montiraju na nosač, čime se osigurava kompaktnost i preglednost radnog prostora za kalibraciju i manipulaciju. Proces kalibracije obuhvaća, kalibraciju kamera i kalibraciju robota u konfiguraciji oko-ruka, što omogućuje robotu preciznu lokalizaciju i interakciju s objektima u radnom prostoru. Nakon što su provedene sve kalibracije, razvijeni sustav omogućuje lokalizaciju predmeta na radnom stolu, korištenjem naprednih algoritama za obradu slike kao što su ORB i SIFT. Nadalje se predmeti vakuumskom hvataljkom odstranjuju iz radnog prostora. Ovaj rad demonstrira kako se napredne tehnologije mogu integrirati u funkcionalan i efikasan sustav za primjene u industriji, pri čemu se postiže robusnost i točnost u izvršavanju zadataka.
Abstract (english)
In this final thesis, a system integrating robot control and machine vision with two cameras and a Jetson Nano computer is developed. C++ was chosen as the programming language for application development due to its efficiency and strong support for specialized libraries such as OpenCV and UR RTDE. These libraries enable image processing and analysis, camera calibration, object localization, and real-time control of a UR robot. During the project, custom-made cases were also designed and produced to mount the Jetson Nano computer and two cameras onto a holder, ensuring compactness and a clear workspace for calibration and manipulation. The calibration process covers both camera calibration and robot hand-eye calibration, allowing the robot to precisely localize and interact with objects in the workspace. After completing all calibrations, the developed system allows for object localization on the table using advanced image processing algorithms such as ORB and SIFT. Objects are then removed from the workspace using a vacuum gripper. This thesis demonstrates how advanced technologies can be integrated into a functional and efficient system for industrial applications, achieving robustness and accuracy in task execution.
Keywords
Keywords (english)
Languagecroatian
URN:NBNurn:nbn:hr:235:246852
Study programmeTitle: Mechanical Engineering
Study programme type: university
Study level: undergraduate
Academic / professional title: sveučilišni/a prvostupnik/prvostupnica (baccalaureus/baccalaurea) inženjer/inženjerka strojarstva (sveučilišni/a prvostupnik/prvostupnica (baccalaureus/baccalaurea) inženjer/inženjerka strojarstva)
Type of resourceText
File originBorn digital
Access conditionsOpen access
Terms of useLicence In copyright icon
Created on2024-09-20 10:52:43