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undergraduate thesis
Upravljanje UR robotom pomoću robotskog operativnog sustava ROS
Zagreb: University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, 2022. urn:nbn:hr:235:061062
Pavić, Domagoj
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

Pavić, D. (2022). Upravljanje UR robotom pomoću robotskog operativnog sustava ROS (Undergraduate thesis). Zagreb: University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture. Retrieved from https://urn.nsk.hr/urn:nbn:hr:235:061062

Pavić, Domagoj. "Upravljanje UR robotom pomoću robotskog operativnog sustava ROS." Undergraduate thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, 2022. https://urn.nsk.hr/urn:nbn:hr:235:061062

Pavić, Domagoj. "Upravljanje UR robotom pomoću robotskog operativnog sustava ROS." Undergraduate thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, 2022. https://urn.nsk.hr/urn:nbn:hr:235:061062

Pavić, D. (2022). 'Upravljanje UR robotom pomoću robotskog operativnog sustava ROS', Undergraduate thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, accessed 23 November 2024, https://urn.nsk.hr/urn:nbn:hr:235:061062

Pavić D. Upravljanje UR robotom pomoću robotskog operativnog sustava ROS [Undergraduate thesis]. Zagreb: University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture; 2022 [cited 2024 November 23] Available at: https://urn.nsk.hr/urn:nbn:hr:235:061062

D. Pavić, "Upravljanje UR robotom pomoću robotskog operativnog sustava ROS", Undergraduate thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, Zagreb, 2022. Available at: https://urn.nsk.hr/urn:nbn:hr:235:061062

Metadata
TitleUpravljanje UR robotom pomoću robotskog operativnog sustava ROS
Title (english)Control of a UR robot using the robot operating system ROS
AuthorDomagoj Pavić
MentorMarko Švaco (mentor)
GranterUniversity of Zagreb
Faculty of Mechanical Engineering and Naval Architecture
Zagreb
Defense date and country2022-07, Croatia
Scientific / art field,
discipline and subdiscipline		TECHNICAL SCIENCES
Mechanical Engineering
Abstract
U ovom se radu integriraju robotski sustavi za upotrebnu preko robotskog operativnog sustava ROS. Cilj rada je osposobiti radno područje (eng. workspace) te uz pomoć ROS-ovih integriranih softverskih biblioteka i alata upravljati robotom. Koristeći komunikaciju između ROS-a i robota, te ugrađenu biblioteku Moveit pomičemo robota upravljajući njegovim zglobovima ili tako što mu zadajemo kartezijske koordinate. Kamera, koja također komunicira sa ROS-om, daje informacije o slici koji se onda obrađuju uz pomoć OpenCV-a na način da se izdvoji željena boja, a potom se to očitanje koristi kako bi se predmetisortirali. Bitno je istaknuti da se robot može pomicati i uz pomoć vlastite interakcijske jedinice, ali je prednost ROS-a što može stvoriti bilo kakvo okruženje za robota sa proizvoljnom hvataljkom, te u jednu cjelinu integrirati veliki broj segmenata.
Abstract (english)
In this work we integrate robotic systems so we can use them through the robotic operating system ROS. The goal of this work is to create a workspace and use the integrated set of software libraries and tools found inside ROS, that help us build robot applications. Using the communication between ROS and our robot and the Moveit library we can move the robot by controlling its joints or by giving it a set of cartesian coordinates. The camera, which is also communicating with ROS, is updating the information about the image so that we can process said image using OpenCV. Now that we have a processed image, we extract color data and sort our objects based on that. It is important to note that the robot can be controlled with a teach pendant, but the advantage of using ROS is that we can create any number of different environments for the robot and its complementary gripper and to integrate a large number of different segments.
Keywords
Keywords (english)
Languagecroatian
URN:NBNurn:nbn:hr:235:061062
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 Attribution-NonCommercial-ShareAlike 4.0 International (CC BY-NC-SA 4.0) icon
Created on2022-07-05 20:54:08