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master's thesis
Upravljanje laganom robotskom rukom pomoću PC računala
2015. urn:nbn:hr:235:956604
Trslić, Petar
University of Zagreb
Faculty of Mechanical Engineering and Naval Architecture

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Trslić, P. (2015). Upravljanje laganom robotskom rukom pomoću PC računala (Master's thesis). Zagreb: University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture. Retrieved from https://urn.nsk.hr/urn:nbn:hr:235:956604

Trslić, Petar. "Upravljanje laganom robotskom rukom pomoću PC računala." Master's thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, 2015. https://urn.nsk.hr/urn:nbn:hr:235:956604

Trslić, Petar. "Upravljanje laganom robotskom rukom pomoću PC računala." Master's thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, 2015. https://urn.nsk.hr/urn:nbn:hr:235:956604

Trslić, P. (2015). 'Upravljanje laganom robotskom rukom pomoću PC računala', Master's thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, accessed 17 April 2024, https://urn.nsk.hr/urn:nbn:hr:235:956604

Trslić P. Upravljanje laganom robotskom rukom pomoću PC računala [Master's thesis]. Zagreb: University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture; 2015 [cited 2024 April 17] Available at: https://urn.nsk.hr/urn:nbn:hr:235:956604

P. Trslić, "Upravljanje laganom robotskom rukom pomoću PC računala", Master's thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, Zagreb, 2015. Available at: https://urn.nsk.hr/urn:nbn:hr:235:956604

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Metadata
TitleUpravljanje laganom robotskom rukom pomoću PC računala
Title (english)PC-based control of a lightweight robot arm
AuthorPetar Trslić
MentorBojan Jerbić (mentor)
GranterUniversity of Zagreb
Faculty of Mechanical Engineering and Naval Architecture
Zagreb
Defense date and country2015-07-16, Croatia
Scientific / art field,
discipline and subdiscipline		TECHNICAL SCIENCES
Mechanical Engineering
Abstract
U radu je nakon uvodnog poglavlja opisan tehnički sustav gdje je obrađen pojam laganog robota, prikazane su sve karakteristike robotske ruke KUKA LWR4+ pomoću koje je izveden ovaj diplomski rad, te je objašnjen UDP protokol i FRI programsko sučelje koje se temelji na njemu. Razvijen je kinematički model robota, određeni su DH parametri robotskog sustava te na temelju njih je izvedena direktna i inverzna kinematika robota. Razvijena je programska podrška i korisničko sučelje pomoću raspoložive C++ knjižnice kao bi se moglo vršiti izdavanje naredbi gibanja robota u kartezijskom koordinatnom sustavu te upravljanje po pojedinim zglobovima.
Abstract (english)
The system, which is used in a research is described in this paper. The Light-weight robot term is explained and a technical characteristic of the KUKA LWR4+ robot are shown. Fast Research Interface (FRI) which is based on UDP protocol is explained. DH parameters of the KUKA LWR4+ robot have been specified in order to robot kinematics, direct and inverse, can be implemented. The software with the user interface is developed so the robot motion can be controlled in Cartesian or joint frame space.
Keywords
Keywords (english)
Languagecroatian
URN:NBNurn:nbn:hr:235:956604
Study programmeTitle: Mechanical Engineering
Study programme type: university
Study level: graduate
Academic / professional title: magistar/magistra inženjer/inženjerka strojarstva (magistar/magistra inženjer/inženjerka strojarstva)
Type of resourceText
File originBorn digital
Access conditionsOpen access
Terms of useLicence In copyright icon
Created on2019-05-22 13:52:32