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master's thesis
Robotsko izuzimanje objekata temeljem boje i oblika
Zagreb: University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, 2022. urn:nbn:hr:235:669909
Sinjeri, 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

Cite this document

Sinjeri, L. (2022). Robotsko izuzimanje objekata temeljem boje i oblika (Master's thesis). Zagreb: University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture. Retrieved from https://urn.nsk.hr/urn:nbn:hr:235:669909

Sinjeri, Luka. "Robotsko izuzimanje objekata temeljem boje i oblika." Master's thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, 2022. https://urn.nsk.hr/urn:nbn:hr:235:669909

Sinjeri, Luka. "Robotsko izuzimanje objekata temeljem boje i oblika." Master's thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, 2022. https://urn.nsk.hr/urn:nbn:hr:235:669909

Sinjeri, L. (2022). 'Robotsko izuzimanje objekata temeljem boje i oblika', Master's thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, accessed 18 December 2024, https://urn.nsk.hr/urn:nbn:hr:235:669909

Sinjeri L. Robotsko izuzimanje objekata temeljem boje i oblika [Master's thesis]. Zagreb: University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture; 2022 [cited 2024 December 18] Available at: https://urn.nsk.hr/urn:nbn:hr:235:669909

L. Sinjeri, "Robotsko izuzimanje objekata temeljem boje i oblika", Master's thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, Zagreb, 2022. Available at: https://urn.nsk.hr/urn:nbn:hr:235:669909

Metadata
TitleRobotsko izuzimanje objekata temeljem boje i oblika
Title (english)Robotic separation of objects based on color and shape
AuthorLuka Sinjeri
MentorTomislav Stipančić (mentor)
GranterUniversity of Zagreb
Faculty of Mechanical Engineering and Naval Architecture
Zagreb
Defense date and country2022-12-15, Croatia
Scientific / art field,
discipline and subdiscipline		TECHNICAL SCIENCES
Mechanical Engineering
Abstract
Razvojem umjetne inteligencije uz sve veću dostupnost potrebne računalne opreme omogućeno je automatizirano prepoznavanje objekata korištenjem vizijskih senzora smještenih u stvarnu okolinu. Zadatak ovog diplomskog rada je razviti programsku podršku koja će omogućiti robotsko izuzimanje temeljeno na značajkama boje i oblika predmeta korištenjem određenih metoda iz područja strojnog vida. Korišteni vizijski senzor za snimanje predmeta iz okoline u stvarnom vremenu je web kamera. Prepoznavanje predmeta omogućeno je putem programa napravljenog korištenjem algoritama OpenCV knjižnice implementirane kroz programski jezik Python. Koordinate pronađenog predmeta šalju se na kolaborativnog robota Universal Robots UR5 koji vrši izuzimanje predmeta traženih karakteristika. Komunikacija između računala i robota ostvaruje se TCP protokolom. Robotska hvataljka potrebna za rukovanje predmetom oblikovana je i izrađena korištenjem aditivne tehnologije. Na početku rada dan je uvod u navedeno područje nakon čega se opisuju koraci izrade programskog rješenja. Na kraju rada analiziraju se dobiveni rezultati, nakon čega se izvodi odgovarajući zaključak.
Abstract (english)
Continuous development of artificial intelligence alongside increased accessibility of required computer equipment provides automated object detection by using visual sensors located in the real environment. Goal of this master’s thesis is to develop program support which would enable robotic separation based on attributes of color and shape of the object by utilizing certain methods of machine vision. Visual sensor used to record objects in real time located in environment is web camera. Object detection is achieved by program based on the algorithms that are part of OpenCV library implemented in Python programming language. Coordinates of detected object are sent to collaborative robot Universal Robots UR5 in order to perform robotic separation on object of required attributes. Communication between computer and robot is achieved by using TCP protocol. Robotic gripper needed for manipulation with objects is modeled and constructed by using additive manufacturing. Introduction into mentioned field is given at the beginning of thesis which is followed by describing steps of creating program support. After analyzing results, valid conclusion is given at the end of thesis.
Keywords
Keywords (english)
Languagecroatian
URN:NBNurn:nbn:hr:235:669909
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 on2022-12-01 14:04:37