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undergraduate thesis
Fizikalni simulator PyBullet
Zagreb: University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, 2022. urn:nbn:hr:235:167190
Kozumplik, Josip
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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Kozumplik, J. (2022). Fizikalni simulator PyBullet (Undergraduate thesis). Zagreb: University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture. Retrieved from https://urn.nsk.hr/urn:nbn:hr:235:167190

Kozumplik, Josip. "Fizikalni simulator PyBullet." Undergraduate thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, 2022. https://urn.nsk.hr/urn:nbn:hr:235:167190

Kozumplik, Josip. "Fizikalni simulator PyBullet." Undergraduate thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, 2022. https://urn.nsk.hr/urn:nbn:hr:235:167190

Kozumplik, J. (2022). 'Fizikalni simulator PyBullet', Undergraduate thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, accessed 17 November 2024, https://urn.nsk.hr/urn:nbn:hr:235:167190

Kozumplik J. Fizikalni simulator PyBullet [Undergraduate thesis]. Zagreb: University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture; 2022 [cited 2024 November 17] Available at: https://urn.nsk.hr/urn:nbn:hr:235:167190

J. Kozumplik, "Fizikalni simulator PyBullet", Undergraduate thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, Zagreb, 2022. Available at: https://urn.nsk.hr/urn:nbn:hr:235:167190

Metadata
TitleFizikalni simulator PyBullet
Title (english)PyBullet physical simulator
AuthorJosip Kozumplik
MentorPetar Ćurković (mentor)
GranterUniversity of Zagreb
Faculty of Mechanical Engineering and Naval Architecture
Zagreb
Defense date and country2022-09-28, Croatia
Scientific / art field,
discipline and subdiscipline		TECHNICAL SCIENCES
Mechanical Engineering
Abstract
U ovom radu objašnjen je pojam fizikalnog simulatora, neizostavnog alata pri razvoju kompleksnih proizvoda poput robota. Nadalje, prikazani su primjeri primjene fizikalnih simulatora u različitim područjima robotike te su navedeni neki od dostupnih fizikalnih simulatora. Glavna tema ovog rada je fizikalni simulator PyBullet, temeljen na Python programskom jeziku, koji omogućuje analizu kolizija, simulaciju dinamike krutih i mekih tijela, rad s direktnom i inverznom kinematikom i dinamikom te ima podršku za rad s opremom za virtualnu stvarnost. Detaljno je opisan postupak instalacije PyBullet-a na Windows 10 operativnom sustavu te su dokumentirane i opisane osnovne naredbe komunikacije, postavljanja parametara simulacije, naredbe potrebne za upravljanje robotom te naredbe korištenja inverzne kinematike i dinamike. Na kraju, prikazana je implementacija primjera mobilnog robota R2-D2 pokretanog kotačima te primjer mobilnog robota Laikago pokretanog nogama u PyBullet okruženju. Programski kodovi primjera mobilnih robota dani su u prilogu rada.
Abstract (english)
In this thesis, concept of a physics simulator, an indispensable tool in development of complex products such as robots, is explained. Furthermore, examples of application of physics simulators in different fields of robotics are presented and some of available physics simulators are listed. The main topic of this thesis is a physics simulator PyBullet, based on Python programming language, which enables collision analysis, simulation of dynamics of rigid and soft bodies, working with direct and inverse kinematics and dynamics, and has support for working with virtual reality equipment. Installation procedure of PyBullet on Windows 10 operating system is described in details and basic commands for communication, setting simulation parameters, commands for using inverse kinematics and dynamics are documented and described. In the end, implementation of an example of mobile robot R2-D2 driven by wheels and an example of mobile robot Laikago driven by legs in PyBullet environment is shown. The program codes of examples of mobile robots are given in the attachment of the thesis.
Keywords
Keywords (english)
Languagecroatian
URN:NBNurn:nbn:hr:235:167190
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 on2022-09-21 16:53:39