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undergraduate thesis
Vizijska aplikacija za otkrivanje kolizije unutar radnog prostora robota
Zagreb: University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, 2023. urn:nbn:hr:235:654285
Sever, Lovro
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

Sever, L. (2023). Vizijska aplikacija za otkrivanje kolizije unutar radnog prostora robota (Undergraduate thesis). Zagreb: University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture. Retrieved from https://urn.nsk.hr/urn:nbn:hr:235:654285

Sever, Lovro. "Vizijska aplikacija za otkrivanje kolizije unutar radnog prostora robota." Undergraduate thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, 2023. https://urn.nsk.hr/urn:nbn:hr:235:654285

Sever, Lovro. "Vizijska aplikacija za otkrivanje kolizije unutar radnog prostora robota." Undergraduate thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, 2023. https://urn.nsk.hr/urn:nbn:hr:235:654285

Sever, L. (2023). 'Vizijska aplikacija za otkrivanje kolizije unutar radnog prostora robota', Undergraduate thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, accessed 13 July 2024, https://urn.nsk.hr/urn:nbn:hr:235:654285

Sever L. Vizijska aplikacija za otkrivanje kolizije unutar radnog prostora robota [Undergraduate thesis]. Zagreb: University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture; 2023 [cited 2024 July 13] Available at: https://urn.nsk.hr/urn:nbn:hr:235:654285

L. Sever, "Vizijska aplikacija za otkrivanje kolizije unutar radnog prostora robota", Undergraduate thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, Zagreb, 2023. Available at: https://urn.nsk.hr/urn:nbn:hr:235:654285

Metadata
TitleVizijska aplikacija za otkrivanje kolizije unutar radnog prostora robota
Title (english)A vision application for collision detection within the robot workspace
AuthorLovro Sever
MentorTomislav Stipančić (mentor)
GranterUniversity of Zagreb
Faculty of Mechanical Engineering and Naval Architecture
Zagreb
Defense date and country2023-03-01, Croatia
Scientific / art field,
discipline and subdiscipline		TECHNICAL SCIENCES
Mechanical Engineering
Abstract
Sve širom upotrebom robota u industriji sve češće se čovjek i robot mogu nalaziti u zajedničkom radnom prostoru. Tema završnog zadatka je izrada vizijskog sustava za sprječavanje kolizije robota i čovjeka. Vizijska aplikacija izrađena je u programskom jeziku Python uz korištenje biblioteka OpenCV i MediaPipe. Biblioteka MediaPipe omogućuje prepoznavanje i lociranje čovjeka ili određenih dijelova čovjeka (npr. šaka, lice, oči, ruka). Kao senzor korišten za prepoznavanje i lociranje čovjeka odabrana je web kamera. Lociranje robota provedeno je kontinuiranom komunikacijom robota i vizijske aplikacije putem TCP protokola. Za potrebe testiranja vizijske aplikacije korišteni je kolaborativni robot UR5. Uz vizijsku aplikaciju dizajnirani je i izrađeni nosač kamere te je provedena analiza opterećenja robota u normalnom radu i prilikom kočenja. U uvodnom djelu rada ukratko se opisuje tema zadatka dok se kroz ostala poglavlja detaljno opisuje postupak izrade vizijske aplikacije, dinamičke analize i izrade nosača kamere.
Abstract (english)
With increasingly common use of robot sin industry, more and more often, man and robot can be located in a common workspace. The topic of the final task is the development of a vision system to prevent the collision between robots and humans. The vision application was created in the Python programming language using the OpenCV and MediaPipe libraries. The MediaPipe library allows you to identify and locate a person or certain parts of a person (e.g., hand, face, eyes, hands). A webcam was chosen as a sensor used to identify and locate a human. Robot locating was carried out through continuous communication of the robot and vision application via the TCP protocol. For the purpose of testing the vision application, the collaborative robot UR5 was used. In addition to the vision application, a camera mount was designed and built and a robot load analysis was carried out in normal operation and during braking. The introductory part of the paper briefly describes the topic of the task, while through other chapters the process of creating a vision application, dynamic analysis and making a camera mount is described in detail.
Keywords
Keywords (english)
Languagecroatian
URN:NBNurn:nbn:hr:235:654285
Study programmeTitle: Mechanical Engineering; specializations in: Design, Process and Energy Engineering, Production Engineering, Engineering Modelling and Computer Simulation, Marine Engineering, Industrial Engineering and Management, Materials Engineering
Course: Design
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 on2023-02-26 11:25:59