Primjena vizijskog sustava za vođenje robota

undergraduate thesis

• Title (english): Application of a vision system for robot guiding
• Author: Iva Žmegač
• Mentor: Marko Švaco (mentor)
• Granter: University of Zagreb; Faculty of Mechanical Engineering and Naval Architecture; Zagreb
• Defense date and country: 2022-09-28, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Mechanical Engineering

Abstract

Rad donosi opis i pregled područja virtualne stvarnosti i robotike te je ovaj rad eksperimentalnog tipa jer integrira oba područja. U prvom dijelu rada korišten je Leap Motion Kontroler kao senzor koji registrira pokrete ruke, dok je u drugom dijelu korištena robotska ruka UNIVERSAL ROBOTS 3 koja ponavlja pokrete registrirane Leap Motion Kontrolerom. Sva korištena oprema nalazi se u Regionalnom centru izvrsnosti za robotske tehnologije (CRTA) u sklopu Fakulteta strojarstva i brodogradnje. Opisan je postupak prikupljanja podataka sa senzora, slanja tih podataka robotu te čitanja i izvršavanja naredbi sa strane robota. Podaci koji se šalju robotu su koordinate pozicije ruke koje robot preko svoje upravljačke jedinice očitava i na koncu izvršava. Za povezivanje Leap Motion Kontrolera i robota korišteno je prijenosno računalo koje koristi Windows 64-bit operativni sustav te TCP/IP protokol. Također, opisana je problematika prijenosa ljudskih pokreta na pokrete robota.

Abstract (english)

The paper provides a description and overview of the fields of virtual reality and robotics, and
this paper is of experimental type because it integrates both fields. In the first part of the paper,
the Leap Motion Controller is used as a sensor which registers hand movements, while in the
second part, the UNIVERSAL ROBOTS 3 robotic arm is used, which repeats the movements
registered by the Leap Motion Controller. All the equipment used is located in the Regional
Center of Excellence for Robotic Technologies (CRTA) within the Faculty of Mechanical
Engineering and Naval Architecture. It's describing the process of collecting data from the
sensor, sending that data to the robot, and reading and executing the command by the robot.
Data sent to the robot are the coordinates of the hand's position, which the robot reads through
its control panel and finally executes. For connecting the Leap Motion Controller and the robot,
a laptop is used that uses Windows 64-bit operating system and the TCP/IP protocol. Also, it's
describing the issue of transferring human movements to robot movements.

• Keywords: virtualna stvarnost; robotika; Leap Motion; UNIVERSAL ROBOTS; ruka; snimanje pokreta; LeapC
• Keywords (english): virtual reality; robotics; Leap Motion; UNIVERSAL ROBOTS; hand; motion capture; LeapC
• Language: croatian
• URN:NBN: urn:nbn:hr:235:714489
• 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: 2022-09-26 09:37:06