prikaz prve stranice dokumenta Simulacija robota penjača u Gazebo simulatoru
  Download
PDF 2 MB
undergraduate thesis
Simulacija robota penjača u Gazebo simulatoru
Zagreb: University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, 2023. urn:nbn:hr:235:419808
Crnić, Edi
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

Crnić, E. (2023). Simulacija robota penjača u Gazebo simulatoru (Undergraduate thesis). Zagreb: University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture. Retrieved from https://urn.nsk.hr/urn:nbn:hr:235:419808

Crnić, Edi. "Simulacija robota penjača u Gazebo simulatoru." Undergraduate thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, 2023. https://urn.nsk.hr/urn:nbn:hr:235:419808

Crnić, Edi. "Simulacija robota penjača u Gazebo simulatoru." Undergraduate thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, 2023. https://urn.nsk.hr/urn:nbn:hr:235:419808

Crnić, E. (2023). 'Simulacija robota penjača u Gazebo simulatoru', Undergraduate thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, accessed 01 May 2024, https://urn.nsk.hr/urn:nbn:hr:235:419808

Crnić E. Simulacija robota penjača u Gazebo simulatoru [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:235:419808

E. Crnić, "Simulacija robota penjača u Gazebo simulatoru", Undergraduate thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, Zagreb, 2023. Available at: https://urn.nsk.hr/urn:nbn:hr:235:419808

Metadata
TitleSimulacija robota penjača u Gazebo simulatoru
Title (english)Simulation of a wall climbing robot in the Gazebo simulator
AuthorEdi Crnić
MentorMarko Švaco (mentor)
GranterUniversity of Zagreb
Faculty of Mechanical Engineering and Naval Architecture
Zagreb
Defense date and country2023-09-28, Croatia
Scientific / art field,
discipline and subdiscipline		TECHNICAL SCIENCES
Mechanical Engineering
Abstract
Moderna tehnologija omogućuje nam upotrebu dostupnih softvera i alata kako bismo pojeftinili, pojednostavnili i osigurali proces testiranja. Samim time, glavni cilj ovoga rada bio je izvršiti simulaciju robota penjača po horizontalnoj, a tako i po vertikalnoj površini. Prikazan je općeniti uvid u robote penjače, kinematika robota te svi koraci koji prethode simulaciji, tj. koraci koji su nužni za izvođenje simulacije. Za proces simulacije korišten je operativni sustav Ubuntu 20.04 u koji je instaliran Robot Operating System (ROS) koji upravlja robotom u Gazebo simulatoru. Također, prikazan je proces izrade URDF datoteke te svih ostalih datoteka bez kojih simulacija ne bi mogla funkcionirati. Skripta robota kreirana je ručno te pomoću programskog paketa Solidworks 2020.
Abstract (english)
Modern technology allows us to use available software and tools to make testing processes cheaper, simpler, and more secure. Therefore, the main goal of this work was to simulate a climbing robot on both horizontal and vertical surfaces. It provides a general overview of climbing robots, robot kinematics, and all the steps preceding the simulation, i.e., the steps necessary for conducting the simulation. The simulation process was carried out on the Ubuntu 20.04 operating system with the Robot Operating System (ROS) installed, which controls the robot in the Gazebo simulator. Additionally, it illustrates the process of creating URDF files and all other necessary files without which the simulation could not function. The robot script was created manually as well as with the help of the Solidworks 2020 software package
Keywords
Keywords (english)
Languagecroatian
URN:NBNurn:nbn:hr:235:419808
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 on2023-09-27 08:24:35