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master's thesis
Planiranje putanje alata robotskog manipulatora za obradu površine objekta na temelju 3D snimke
2019. urn:nbn:hr:200:052386
Čičić, Adrian
Josip Juraj Strossmayer University of Osijek
Faculty of Electrical Engineering, Computer Science and Information Technology Osijek
Department of Computer Engineering and Automation
Chair of Automation and Robotics

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Čičić, A. (2019). Planiranje putanje alata robotskog manipulatora za obradu površine objekta na temelju 3D snimke (Master's thesis). Osijek: Josip Juraj Strossmayer University of Osijek, Faculty of Electrical Engineering, Computer Science and Information Technology Osijek. Retrieved from https://urn.nsk.hr/urn:nbn:hr:200:052386

Čičić, Adrian. "Planiranje putanje alata robotskog manipulatora za obradu površine objekta na temelju 3D snimke." Master's thesis, Josip Juraj Strossmayer University of Osijek, Faculty of Electrical Engineering, Computer Science and Information Technology Osijek, 2019. https://urn.nsk.hr/urn:nbn:hr:200:052386

Čičić, Adrian. "Planiranje putanje alata robotskog manipulatora za obradu površine objekta na temelju 3D snimke." Master's thesis, Josip Juraj Strossmayer University of Osijek, Faculty of Electrical Engineering, Computer Science and Information Technology Osijek, 2019. https://urn.nsk.hr/urn:nbn:hr:200:052386

Čičić, A. (2019). 'Planiranje putanje alata robotskog manipulatora za obradu površine objekta na temelju 3D snimke', Master's thesis, Josip Juraj Strossmayer University of Osijek, Faculty of Electrical Engineering, Computer Science and Information Technology Osijek, accessed 19 November 2024, https://urn.nsk.hr/urn:nbn:hr:200:052386

Čičić A. Planiranje putanje alata robotskog manipulatora za obradu površine objekta na temelju 3D snimke [Master's thesis]. Osijek: Josip Juraj Strossmayer University of Osijek, Faculty of Electrical Engineering, Computer Science and Information Technology Osijek; 2019 [cited 2024 November 19] Available at: https://urn.nsk.hr/urn:nbn:hr:200:052386

A. Čičić, "Planiranje putanje alata robotskog manipulatora za obradu površine objekta na temelju 3D snimke", Master's thesis, Josip Juraj Strossmayer University of Osijek, Faculty of Electrical Engineering, Computer Science and Information Technology Osijek, Osijek, 2019. Available at: https://urn.nsk.hr/urn:nbn:hr:200:052386

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Metadata
TitlePlaniranje putanje alata robotskog manipulatora za obradu površine objekta na temelju 3D snimke
Title (english)Robot End Effector Path Planning for Object Surface Finishing Based on 3D Image
AuthorAdrian Čičić
MentorRobert Cupec (mentor)
Committee memberRobert Cupec (predsjednik povjerenstva)
Committee memberDamir Filko (član povjerenstva)
Committee memberEmmanuel Karlo Nyarko (član povjerenstva)
GranterJosip Juraj Strossmayer University of Osijek
Faculty of Electrical Engineering, Computer Science and Information Technology Osijek
(Department of Computer Engineering and Automation)
(Chair of Automation and Robotics)
Osijek
Defense date and country2019-10-07, Croatia
Scientific / art field,
discipline and subdiscipline		TECHNICAL SCIENCES
Electrical Engineering
Automation and Robotics
Abstract
U ovom radu je obrađena problematika planiranja putanje vrha alata robotskog manipulatora po površini objekta od interesa pomoću informacija dobivenih 3D kamerom. U svrhu izrade ovog rada izrađen je program unutar ROS(Robot Operating System) okvira koji planira putanju vrha alata industrijskog robota. Unutar ROS okvira također je izrađena procedura za kalibraciju sustava robot-kamera koja omogućuje računanje transformacijskih matrica iz koordinatnog sustava kamere u koordinatni sustav robotskog manipulatora. Planiranje putanje vrha alata i procedura za kalibraciju sustava robot-kamera su izvedeni u C++ programskom, a računanje transformacijskih matrica iz koordinatnog sustava kamere u koordinatni sustav robota je izvedeno u MATLAB programskom jeziku. Točnost izrađenog sustava eksperimentalno je ispitana na industrijskom robotu ABB IRB 2400L .
Abstract (english)
In this thesis path planning along the surface of an object of interest for a robotic manipulator end effector is considered. The object pose is determined using a 3D camera. A software for planning the path of an industrial robot end effector is developed within the ROS framework. Furthermore, a hand-eye calibration procedure, which computes the transformation matrix from the camera coordinate system to the robot coordinate system was implemented. The path planning and hand-eye calibration procedures were created in C++ programming language and the calculation of the transformation matrix from the camera coordinate system to the robot coordinate system was made in MATLAB programming language. The accuracy of the developed system was experimentally tested on the industrial robot ABB IRB 2400L .
Keywords
Keywords (english)
Languagecroatian
URN:NBNurn:nbn:hr:200:052386
Study programmeTitle: Graduate University Study Programme in Computer Engineering
Study programme type: university
Study level: graduate
Academic / professional title: magistar/magistra inženjer/inženjerka računarstva (magistar/magistra inženjer/inženjerka računarstva)
Type of resourceText
File originBorn digital
Access conditionsOpen access
Terms of useLicence In copyright icon
Created on2019-12-19 13:52:04