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master's thesis
Hvatanje predmeta u slobodnom letu robotom
2016. urn:nbn:hr:235:508395
Kokić, Mia
University of Zagreb
Faculty of Mechanical Engineering and Naval Architecture

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Kokić, M. (2016). Hvatanje predmeta u slobodnom letu robotom (Master's thesis). Zagreb: University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture. Retrieved from https://urn.nsk.hr/urn:nbn:hr:235:508395

Kokić, Mia. "Hvatanje predmeta u slobodnom letu robotom." Master's thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, 2016. https://urn.nsk.hr/urn:nbn:hr:235:508395

Kokić, Mia. "Hvatanje predmeta u slobodnom letu robotom." Master's thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, 2016. https://urn.nsk.hr/urn:nbn:hr:235:508395

Kokić, M. (2016). 'Hvatanje predmeta u slobodnom letu robotom', Master's thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, accessed 19 April 2024, https://urn.nsk.hr/urn:nbn:hr:235:508395

Kokić M. Hvatanje predmeta u slobodnom letu robotom [Master's thesis]. Zagreb: University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture; 2016 [cited 2024 April 19] Available at: https://urn.nsk.hr/urn:nbn:hr:235:508395

M. Kokić, "Hvatanje predmeta u slobodnom letu robotom", Master's thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, Zagreb, 2016. Available at: https://urn.nsk.hr/urn:nbn:hr:235:508395

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Metadata
TitleHvatanje predmeta u slobodnom letu robotom
Title (english)Catching object in free fly by robot
AuthorMia Kokić
MentorBojan Jerbić (mentor)
GranterUniversity of Zagreb
Faculty of Mechanical Engineering and Naval Architecture
Zagreb
Defense date and country2016-03-24, Croatia
Scientific / art field,
discipline and subdiscipline		TECHNICAL SCIENCES
Mechanical Engineering
Abstract
Hvatanje objekta u pokretu iznimno je težak zadatak kako za čovjeka tako i za robota. Kako bi izvršio isti robot mora imati sposobnost opažanja, praćenja objekta, predviđanja gibanja, planiranja trajektorije i dobru senzimotornu koordinaciju. Zadatak ovog rada bio je razviti program za upravljanje robotom koji može uhvatiti lopticu u letu. Glavne elemente sustava čine loptica, vizijski sustav, računalo i UR5. U sklopu zadatka razvijen je algoritam za prepoznavanje loptice u letu, predviđanje točke hvatanja i upravljači program koji šalje podatke robotu u koju točku se pomaknuti kako bi hvatanje bilo uspješno. Program je napisan u programskom jeziku C#, a kompletan kod priložen je u prilogu A.
Abstract (english)
Catching a moving object with a hand is one of the most difficult tasks for humans as well as for robot systems. Smart sensing, object tracking, motion prediction, on-line trajectory planning and motion coordination are capabilities required in a robotic system to catch a thrown ball. The application for catching a flying ball was developed and the main elements of the system are the ball, vision system and UR5. The algorithm for detection and predictions were developed as well as the program for controlling the robot. Program is written in C# programming language and the complete code is in attachment A.
Keywords
Keywords (english)
Languagecroatian
URN:NBNurn:nbn:hr:235:508395
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 16:30:52