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undergraduate thesis
Digitalizacija robotskog radnog prostora u simulacijskom softveru pomoću in-hand 3D kamere
Zagreb: University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, 2023. urn:nbn:hr:235:711001
Piršić, Antonio
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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Piršić, A. (2023). Digitalizacija robotskog radnog prostora u simulacijskom softveru pomoću in-hand 3D kamere (Undergraduate thesis). Zagreb: University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture. Retrieved from https://urn.nsk.hr/urn:nbn:hr:235:711001

Piršić, Antonio. "Digitalizacija robotskog radnog prostora u simulacijskom softveru pomoću in-hand 3D kamere." Undergraduate thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, 2023. https://urn.nsk.hr/urn:nbn:hr:235:711001

Piršić, Antonio. "Digitalizacija robotskog radnog prostora u simulacijskom softveru pomoću in-hand 3D kamere." Undergraduate thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, 2023. https://urn.nsk.hr/urn:nbn:hr:235:711001

Piršić, A. (2023). 'Digitalizacija robotskog radnog prostora u simulacijskom softveru pomoću in-hand 3D kamere', Undergraduate thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, accessed 01 May 2024, https://urn.nsk.hr/urn:nbn:hr:235:711001

Piršić A. Digitalizacija robotskog radnog prostora u simulacijskom softveru pomoću in-hand 3D kamere [Undergraduate thesis]. Zagreb: University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture; 2023 [cited 2024 May 01] Available at: https://urn.nsk.hr/urn:nbn:hr:235:711001

A. Piršić, "Digitalizacija robotskog radnog prostora u simulacijskom softveru pomoću in-hand 3D kamere", Undergraduate thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, Zagreb, 2023. Available at: https://urn.nsk.hr/urn:nbn:hr:235:711001

Metadata
TitleDigitalizacija robotskog radnog prostora u simulacijskom softveru pomoću in-hand 3D kamere
Title (english)Digitization of the robotic workspace in a simulation software using an in-hand 3D camera
AuthorAntonio Piršić
MentorMarko Švaco (mentor)
MentorFilip Šuligoj (komentor)
GranterUniversity of Zagreb
Faculty of Mechanical Engineering and Naval Architecture
Zagreb
Defense date and country2023-03-02, Croatia
Scientific / art field,
discipline and subdiscipline		TECHNICAL SCIENCES
Mechanical Engineering
Abstract
U ovom završnom radu se integrira sustav za digitalizaciju radnog prostora robota primjenom 3D kamere. Korišteni su Universal Robots 5e robot i Intel Realsense D435i kamera. Sva korištena oprema nalazi se u Regionalnom centru izvrsnosti za robotske tehnologije (CRTA) u sklopu Fakulteta strojarstva i brodogradnje. Opisan je postupak izrade skripte za dohvaćanje oblaka točaka predmeta kojeg kamera snima, te vizualizaciju tog oblaka unutar simulacijskog softvera RoboDK. Riješen je problem kalibracije kamere i vrha alata. Koriste se matrice homogene transformacije za potrebe transformacije i dovođenja u odnos kamere (samim tim i oblaka točaka) i koordinatnog sustava baze robota. Naposljetku, kao zadatak koji robot izvršava je dolazak vrha alata u kontakt s površinom snimljenog predmeta na naredbu provedenu iz RoboDK softvera.
Abstract (english)
In this bachelor thesis, a system for digitizing the robot workspace using a 3D camera is integrated. The Universal Robots 5e robot and the Intel Realsense D435i camera were used. All the equipment used is located at the Regional Center of Excellence for Robotics Technologies (CRTA) within the Faculty of Mechanical Engineering and Naval Architecture. It describes the process of creating a script for retrieving the point cloud of the object captured by the camera, and visualizing that cloud within the RoboDK simulation software. The problem of calibrating the camera and tooltip was solved. Homogeneous transformation matrices are used for transformation and bringing the camera (therefore the cloud of points) into relation with the coordinate system of the robot base. Finally, the task of the robot is to bring the tip of the tool in contact with the surface of the captured object in response to the command executed by the RoboDK software.
Keywords
Keywords (english)
Languagecroatian
URN:NBNurn:nbn:hr:235:711001
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 4.0 International (CC BY 4.0) icon
Created on2023-02-23 08:07:06