Hvatanje predmeta u slobodnom letu robotom

Kokić, Mia (2016) Hvatanje predmeta u slobodnom letu robotom. = Catching object in free fly by robot. Master's thesis (Bologna) , Sveučilište u Zagrebu, Fakultet strojarstva i brodogradnje, UNSPECIFIED. Mentor: Jerbić, Bojan.

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Abstract (Croatian)

Hvatanje objekta u pokretu iznimno je težak zadatak kako za čovjeka tako i za robota. Kako bi izvršio isti robot mora imati sposobnost opažanja, praćenja objekta, predviđanja gibanja, planiranja trajektorije i dobru senzimotornu koordinaciju. Zadatak ovog rada bio je razviti program za upravljanje robotom koji može uhvatiti lopticu u letu. Glavne elemente sustava čine loptica, vizijski sustav, računalo i UR5. U sklopu zadatka razvijen je algoritam za prepoznavanje loptice u letu, predviđanje točke hvatanja i upravljači program koji šalje podatke robotu u koju točku se pomaknuti kako bi hvatanje bilo uspješno. Program je napisan u programskom jeziku C#, a kompletan kod priložen je u prilogu A.

Abstract

Catching a moving object with a hand is one of the most difficult tasks for humans as well as for robot systems. Smart sensing, object tracking, motion prediction, on-line trajectory planning and motion coordination are capabilities required in a robotic system to catch a thrown ball. The application for catching a flying ball was developed and the main elements of the system are the ball, vision system and UR5. The algorithm for detection and predictions were developed as well as the program for controlling the robot. Program is written in C# programming language and the complete code is in attachment A.

Item Type:	Thesis (Master's thesis (Bologna))
Uncontrolled Keywords:	Robotika, Prepoznavanje, UR5, Microsoft Kinect, Računalni vid, Hvatanje loptice
Keywords (Croatian):	robotics, detection, prediction, UR5, Microsoft Kinect, machine vision, ball catching
Subjects:	TECHNICAL SCIENCE > Mechanical Engineering
Divisions:	900 Department of Robotics and Production System Automation > 920 Chair of Manufacturing and Assembly System Planning
Date Deposited:	17 Mar 2016 10:30
Last Modified:	30 Mar 2020 07:18
URI:	http://repozitorij.fsb.hr/id/eprint/5248

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