Integracija i validacija simuliranog radnog okruženja za robotsku ruku u realnoj i virtualnoj konfiguraciji oko-ruka

undergraduate thesis

• Title (english): Integration and validation of a simulated working environment for a robotic arm in real and virtual eye-hand configuration
• Author: Marin Dominiković
• Mentor: Filip Šuligoj (mentor)
• Granter: University of Zagreb; Faculty of Mechanical Engineering and Naval Architecture; Zagreb
• Defense date and country: 2024-02-28, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Mechanical Engineering

Abstract

U kontekstu napredovanja automatizacije i poboljšanja učinkovitosti proizvodnih procesa, ovaj rad istražuje pristup razvoju i validaciji simuliranog radnog okruženja koristeći RoboDK. Istraživanje se fokusira na integraciju 2D kamere u konfiguraciji oko-ruka kako bi se olakšala kalibracija vizualnog sustava i detekcija objekata unutar stvarnih i simuliranih domena. Srž rada leži u implementaciji metoda lokalizacije predmeta, koristeći 2D kameru za stvaranje dinamičkog digitalnog blizanca unutar RoboDK simulacijskog okruženja. Teorijske osnove, uključujući metodologije usklađivanja značajki i dvostruke procese kalibracije za robotsku ruku i kameru, temeljito su istražene i objašnjene. Koristeći OpenCV za praktičnu implementaciju, rad detaljno opisuje primjenu dvije različite tehnike kalibracije uz primjenu dva algoritma za usklađivanje značajki. Nakon toga, demonstrira se integracija ovih elemenata u RoboDK Python API-u, što rezultira automatskim generiranjem i vizualizacijom detektiranih objekata iz stvarnog svijeta unutar simulacije. Ovaj automatizirani proces ne samo da olakšava precizno planiranje i verifikaciju robotskih manipulacija, već i osigurava njihovu točnu izvedbu u stvarnom svijetu. Rad završava procjenom performansi sustava, prezentirajući empirijska mjerenja odstupanja od stvarnih vrijednosti, čime se naglašava učinkovitost i pouzdanost predloženog rješenja u optimizaciji proizvodnih procesa kroz napredne simulacijske tehnike.

Abstract (english)

In the context of advancing automation and improving the efficiency of manufacturing processes, this paper explores an approach to developing and validating a simulated work environment using RoboDK. The research focuses on integrating a 2D camera in an eye-to- hand configuration to facilitate the calibration of the vision system and the detection of objects within both real and simulated domains. The essence of the work lies in the implementation of object localization methods, using a 2D camera to create a dynamic digital twin within the RoboDK simulation environment. Theoretical foundations, including feature matching methodologies and dual calibration processes for both the robotic arm and the camera, are thoroughly investigated and explained. Utilizing OpenCV for practical implementation, the paper details the application of two different calibration techniques along with the deployment of two feature matching algorithms. Subsequently, the integration of these elements into the RoboDK Python API is demonstrated, resulting in the automatic generation and visualization of detected real-world objects within the simulation. This automated process not only facilitates precise planning and verification of robotic manipulations but also ensures their accurate execution in the real world. The paper concludes with an assessment of the system's performance, presenting empirical measurements of deviations from actual values, thereby highlighting the efficiency and reliability of the proposed solution in optimizing manufacturing processes through advanced simulation techniques.

• Keywords: robotska ruka; oko-ruka; OpenCV; RoboDK
• Keywords (english): robotic arm; eye-to-hand; OpenCV; RoboDK
• Language: croatian
• URN:NBN: urn:nbn:hr:235:415705
• Study programme: Title: 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 resource: Text
• File origin: Born digital
• Access conditions: Open access
• Created on: 2024-02-23 17:32:35