Adaptivni sustav za preciznu manipulaciju objekata s robotskom rukom upotrebom promjenjivih kamera i ugradbene računalne platforme

undergraduate thesis

• Title (english): Adaptive system for precise manipulation of objects with a robotic arm using exchangeable cameras and embedded computing platform
• Author: Luka Završki
• Mentor: Filip Šuligoj (mentor)
• Granter: University of Zagreb; Faculty of Mechanical Engineering and Naval Architecture; Zagreb
• Defense date and country: 2024-09-26, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Mechanical Engineering

Abstract

U ovom radu integrira se sustava upravljanja robotom i sustav strojnog vida s 2 kamere s Jetson Nano računalom. Odabrano je programiranje aplikacija u C++ programskom jeziku koji je efikasan i ima široku podršku za specijalizirane biblioteke kao što su OpenCV i ur_rtde. Te biblioteke omogućuju obradu i analizu slika, kalibraciju kamera, lokalizaciju predmeta i upravljanje UR robota u stvarnom vremenu. Tijekom rada izrađuju se i prilagođena kućišta pomoću kojih se Jetson Nano računalo i dvije kamere montiraju na nosač, čime se osigurava kompaktnost i preglednost radnog prostora za kalibraciju i manipulaciju. Proces kalibracije obuhvaća, kalibraciju kamera i kalibraciju robota u konfiguraciji oko-ruka, što omogućuje robotu preciznu lokalizaciju i interakciju s objektima u radnom prostoru. Nakon što su provedene sve kalibracije, razvijeni sustav omogućuje lokalizaciju predmeta na radnom stolu, korištenjem naprednih algoritama za obradu slike kao što su ORB i SIFT. Nadalje se predmeti vakuumskom hvataljkom odstranjuju iz radnog prostora. Ovaj rad demonstrira kako se napredne tehnologije mogu integrirati u funkcionalan i efikasan sustav za primjene u industriji, pri čemu se postiže robusnost i točnost u izvršavanju zadataka.

Abstract (english)

In this final thesis, a system integrating robot control and machine vision with two cameras
and a Jetson Nano computer is developed. C++ was chosen as the programming language for
application development due to its efficiency and strong support for specialized libraries such
as OpenCV and UR RTDE. These libraries enable image processing and analysis, camera
calibration, object localization, and real-time control of a UR robot.
During the project, custom-made cases were also designed and produced to mount the Jetson
Nano computer and two cameras onto a holder, ensuring compactness and a clear workspace
for calibration and manipulation. The calibration process covers both camera calibration and
robot hand-eye calibration, allowing the robot to precisely localize and interact with objects
in the workspace.
After completing all calibrations, the developed system allows for object localization on
the table using advanced image processing algorithms such as ORB and SIFT. Objects are
then removed from the workspace using a vacuum gripper. This thesis demonstrates how
advanced technologies can be integrated into a functional and efficient system for industrial
applications, achieving robustness and accuracy in task execution.

• Keywords: openCV; robot; ur_rtde; embeded računalo; C++; kamera; kalibracija; lokalizacija
• Keywords (english): openCV; robot; UR RTDE; embedded computer; C++; camera; calibration; localization
• Language: croatian
• URN:NBN: urn:nbn:hr:235:246852
• 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: 2024-09-20 10:52:43