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undergraduate thesis
Automatska kalibracija mobilnog robota
Zagreb: University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, 2023. urn:nbn:hr:235:930698
Kolar, 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

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Kolar, L. (2023). Automatska kalibracija mobilnog robota (Undergraduate thesis). Zagreb: University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture. Retrieved from https://urn.nsk.hr/urn:nbn:hr:235:930698

Kolar, Luka. "Automatska kalibracija mobilnog robota." Undergraduate thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, 2023. https://urn.nsk.hr/urn:nbn:hr:235:930698

Kolar, Luka. "Automatska kalibracija mobilnog robota." Undergraduate thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, 2023. https://urn.nsk.hr/urn:nbn:hr:235:930698

Kolar, L. (2023). 'Automatska kalibracija mobilnog robota', Undergraduate thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, accessed 01 May 2024, https://urn.nsk.hr/urn:nbn:hr:235:930698

Kolar L. Automatska kalibracija mobilnog robota [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:235:930698

L. Kolar, "Automatska kalibracija mobilnog robota", Undergraduate thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, Zagreb, 2023. Available at: https://urn.nsk.hr/urn:nbn:hr:235:930698

Metadata
TitleAutomatska kalibracija mobilnog robota
Title (english)Automatic mobile robot calibration
AuthorLuka Kolar
MentorMarko Švaco (mentor)
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
Zadatak ovog rada je automatska kalibracija mobilnog robota koja se obavlja tako da se robot upravljan pomoću ROS-a (engl. Robot Operating System – ROS), u kojem će se pomoći čvora generirati i slati kvadratna putanja veličine 4x4 m. Nakon toga, pomoću vizijskog sustava OptiTrack će se bilježiti stvarna putanja robota te usporediti s referentnom putanjom. Idući korak je primjena čvora u ROS-u koji korištenjem početne i krajnje lokacije bilježene pomoću OptiTrack-a izračunava kalibracijske parametre robota po UMBMark metodi kalibracije te njihova implementacija radi ispravljanja greški odstupanja od referentne putanje. Na kraju, pomoću grafičkog prikaza se uspoređuje praćenje putanje prije i nakon kalibracije mobilnog robota.
Abstract (english)
The task of this final paper is the automatic calibration of a mobile robot, which is performed by controlling the robot using ROS (Robot Operating System - ROS), in which a node will be used to generate and send a 4x4 m square path. After that, the actual path of the robot will be recorded by OptiTrack vision system and compared to the reference path. The next step is using a node in ROS that uses the initial and final location recorded by OptiTrack and calculates the calibration parameters of the robot according to the UMBMark calibration method and their implementation in order to correct errors of deviation from the reference path. At the end, the tracking of the trajectories before and after the calibration of the mobile robot is compared using a graphical display.
Keywords
Keywords (english)
Languagecroatian
URN:NBNurn:nbn:hr:235:930698
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 on2023-03-01 13:58:11