prikaz prve stranice dokumenta Usklađeno rukovanje objektima pomoću dva robota korištenjem senzora sile i momenata
  Download
PDF 4.97 MB
master's thesis
Usklađeno rukovanje objektima pomoću dva robota korištenjem senzora sile i momenata
Zagreb: University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, 2018. urn:nbn:hr:235:979907
Pažanin, Ivan
University of Zagreb
Faculty of Mechanical Engineering and Naval Architecture

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

Cite this document

Pažanin, I. (2018). Usklađeno rukovanje objektima pomoću dva robota korištenjem senzora sile i momenata (Master's thesis). Zagreb: University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture. Retrieved from https://urn.nsk.hr/urn:nbn:hr:235:979907

Pažanin, Ivan. "Usklađeno rukovanje objektima pomoću dva robota korištenjem senzora sile i momenata." Master's thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, 2018. https://urn.nsk.hr/urn:nbn:hr:235:979907

Pažanin, Ivan. "Usklađeno rukovanje objektima pomoću dva robota korištenjem senzora sile i momenata." Master's thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, 2018. https://urn.nsk.hr/urn:nbn:hr:235:979907

Pažanin, I. (2018). 'Usklađeno rukovanje objektima pomoću dva robota korištenjem senzora sile i momenata', Master's thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, accessed 05 November 2024, https://urn.nsk.hr/urn:nbn:hr:235:979907

Pažanin I. Usklađeno rukovanje objektima pomoću dva robota korištenjem senzora sile i momenata [Master's thesis]. Zagreb: University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture; 2018 [cited 2024 November 05] Available at: https://urn.nsk.hr/urn:nbn:hr:235:979907

I. Pažanin, "Usklađeno rukovanje objektima pomoću dva robota korištenjem senzora sile i momenata", Master's thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, Zagreb, 2018. Available at: https://urn.nsk.hr/urn:nbn:hr:235:979907

Metadata
TitleUsklađeno rukovanje objektima pomoću dva robota korištenjem senzora sile i momenata
Title (english)Coordinated handling of objects by two robots using force and torque sensor
AuthorIvan Pažanin
MentorBojan Jerbić (mentor)
GranterUniversity of Zagreb
Faculty of Mechanical Engineering and Naval Architecture
Zagreb
Defense date and country2018-07-12, Croatia
Scientific / art field,
discipline and subdiscipline		TECHNICAL SCIENCES
Mechanical Engineering
Abstract
U ovom radu realizirano je dvoručno usklađeno rukovanje predmetom u prostoru pomoću šesteroosnog senzora sila i momenata. Korištene su robotske ruke UR3 i UR5 kompanije Universal Robots tako da manja UR3 ruka, upravljana programom sa privjeska za učenje, zadaje trajektoriju, a veća UR5 ruka, uz pomoć filtriranog signala senzora i upravljana programski na daljinu preko TCP protokola, pridržava predmet i prati trajektoriju manje ruke. Pridržavanje i praćenje trajektorije ostvaruje se proporcionalno-integralno-derivacijskom (PID) regulacijom brzina zakreta pojedinih zglobova UR5 robota uz upotrebu inverzne Jacobijeve matrice. Koristeći Denavit-Hartenberg konvenciju, analizirana je geometrija robota i razrađen kinematički model, opisan je postupak nalaženja direktne i inverzne kinematike robota, kao i Jacobijeve i inverzne Jacobijeve matrice.
Abstract (english)
Using a six-axis force torque sensor, a coordinated two-arm spatial object handling method is realized in this paper. The two industrial robot arms used, UR3 and UR5 from Universal Robots, are used such that the smaller UR3 arm, being controlled by its teach pendant, sets the trajectory, while the larger UR5 arm, using a filtered sensor signal and being controlled by a remote computer over TCP, holds the object in place and follows the trajectory of the smaller arm. Holding of the object and trajectory following is done with proportional-integral-derivative (PID) control of individual angular joint speeds of the UR5 arm using an inverse Jacobian matrix. The geometry of the robot is analyzed and a kinematic model is worked out using the Denavit-Hartenberg convention, the process of finding the direct and inverse kinematics, as well as finding the Jacobian and inverse Jacobian matrix, is elaborated.
Keywords
Keywords (english)
Languagecroatian
URN:NBNurn:nbn:hr:235:979907
Study programmeTitle: Mechanical Engineering
Study programme type: university
Study level: graduate
Academic / professional title: magistar/magistra inženjer/inženjerka strojarstva (magistar/magistra inženjer/inženjerka strojarstva)
Type of resourceText
File originBorn digital
Access conditionsOpen access
Terms of useLicence In copyright icon
Created on2019-05-22 22:30:42