Izrada kapacitivnog senzora za "umjetnu kožu" robota

Pavičić, Morana (2018) Izrada kapacitivnog senzora za "umjetnu kožu" robota. = Development of Capacitive Sensor for the Robot's Artificial Skin. Undergraduate thesis , Sveučilište u Zagrebu, Fakultet strojarstva i brodogradnje, UNSPECIFIED. Mentor: Jerbić, Bojan.

[img]
Preview
Text
ZAVRSNI_RAD_Morana_Pavicic.pdf - Published Version Jezik dokumenta:Croatian

Download (2MB) | Preview
[img] Text
Pavičić_Morana_autorska_izjava_završni rad_2018.pdf - Published Version
Restricted to Repository staff only Jezik dokumenta:Croatian

Download (499kB)

Abstract (Croatian)

Čovjek u današnje vrijeme sve više teži automatizaciji i robotizaciji u svim područjima djelatnosti. Iz Tri zakona robotike proizlazi kako je robotski prioritet ne naštetiti čovjeku, što je od iznimne važnosti s obzirom na to da u mnogim procesima robot još uvijek nije u potpunosti autonoman te zahtijeva interakciju s čovjekom. Kontinuiranim razvojem modela interakcije pojednostavljuju se većinom složeni zadaci te se omogućuje intuitivno zadavanje zadataka. Cilj ovog rada je razvoj jednog takvog modela korištenjem jednostavnog sustava senzora koji predstavlja jednu stanicu „umjetne kože“ robota, a temelji se na vanjskim poticajima mjerenim pomoću dvije vrste senzora – kapacitivnog te senzora blizine. Spomenuti sustav senzora spojen je na Arduino Uno mikroračunalo koje je spojeno na robot. Na temelju ulaza (taktilnog podražaja) robot u konačnici reagira odgovarajućim pokretima.

Abstract

Humans today aspire to incorporate automation and robotics in every field of activity. In accordance with the Three Laws of Robotics, robot's priority is not to harm the human operator in any way. This is of utmost importance given that in the majority of processes robot is still not fully autonomous and requires interaction with human operator. With continuous development of human-robot interaction models, many complex tasks are simplified and made more intuitive. The goal of this paper is to develop one such model using a simple sensory system that represents a single cell, based on external stimuli measured by two types of sensors – capacitive and proximity sensor. The aforementioned sensory system is connected to the Arduino Uno microcontroller which is connected to the robot. Based on inputs (external human stimulation), the robot ultimately responds in appropriate movements.

Item Type: Thesis (Undergraduate thesis)
Uncontrolled Keywords: human-robot interaction, artificial robotic skin, sensors
Keywords (Croatian): interakcija čovjeka i robota, umjetna koža robota, sustav senzora
Subjects: TECHNICAL SCIENCE > Mechanical Engineering
Divisions: 900 Department of Robotics and Production System Automation > 920 Chair of Manufacturing and Assembly System Planning
Date Deposited: 24 Sep 2018 12:08
Last Modified: 25 Oct 2019 12:02
URI: http://repozitorij.fsb.hr/id/eprint/8791

Actions (login required)

View Item View Item

Downloads

Downloads per month over past year