Izrada korisničkog sučelja i algoritama za upravljanje gibanja Panda robotske ruke

undergraduate thesis

• Title (english): User interface development and motion control programming for the Panda robotic arm
• Author: Tin Domitrek
• Mentor: Marko Švaco (mentor)
• Granter: University of Zagreb; Faculty of Mechanical Engineering and Naval Architecture; Zagreb
• Defense date and country: 2022-09-22, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Mechanical Engineering; Production Mechanical Engineering

Abstract

U ovom radu se opisuje postupak razvoja korisničkog sučelja za upravljanje na niskoj razini sa Franka Emika Panda robotskom rukom koja ima 7 stupnjeva slobode. Najprije se rješava problem spajanja gdje se moraju zadovoljiti zahtjevi za upravljanjem na niskoj razini, koji se rješava instalacijom real-time kernela na Linux Ubuntu sustavu i postavljanjem statičkih IP adresa kojim su povezani robot i radna stanica. Koristi se FCI (Franka Control Interface) izdan od strane Franka Emike koji služi kao posrednik između robota i sučelja, te libfranka C++ knjižnica koja sadrži kolekciju funkcija i kontrolera za upravljanje robotskom rukom i hvataljkom. Korištenjem Qt Creator alata koji se temelji na C++ programskom jeziku i libfranka knjižnice razvijeno je korisničko sučelje sa mogućnošću stvaranja sekvencijalnih zadataka koji dopuštaju otvaranje/zatvaranje hvataljke, point-to-point gibanje, linearno gibanje, gibanje zglobova, te kontrolu impedancije. Problem pozicije rješava se izračunom inverzne kinematike robotske ruke unutar algoritma, a orijentacija uz pomoć funkcija libfranke i slerpa.

Abstract (english)

This paper describes the process of developing a low-level user control interface system for Franka Emika Panda robotic arm, which has 7 degrees of freedom. Firstly, the connection problem where low-level control requirements must be met is addressed, which is solved by installing a real-time kernel on a Linux Ubuntu system and setting static IP addresses to which the robot and workstation are connected. The FCI (Franka Control Interface) released by Franka Emika is used, which serves as an intermediary between the robot and the interface, and a libfranka C++ library which contains a collection of functions and motion controllers for controlling the robotic arm and hand. Using the Qt Creator tool based on the C++ programming language and the libfranka library, a user interface was developed with the possibility of creating sequential tasks that allow opening/closing of the gripper, point-to-point motion, linear motion, joint motion, and impedance control. The position problem is solved by calculating inverse kinematics of the robot hand inside an algorithm, and the orientation with the help of libfranka functions and slerp.

• Keywords: Franka Emika Panda; libfranka; FCI; inverzna kinematika; point-to-point; linearno
• Keywords (english): Franka Emika Panda; libfranka; FCI; inverse kinematics; point-to-point; linear
• Language: croatian
• URN:NBN: urn:nbn:hr:235:112718
• 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: 2022-09-22 07:31:23