diplomsko delo
Andrej Picej (Author), Karl Gotlih (Mentor), Aleš Hace (Mentor)

Abstract

V diplomskem delu je obravnavana problematika robotskega meta na koš. Opisani sta dve metodi s katerima lahko določimo gibanje kolaborativnega 6-osnega robota UR5. Predstavljena je analiza poševnega meta in človeškega meta na koš ter posnemanje človeškega giba roke z robotsko roko. Zapisan je tudi kinematični model robota, s pomočjo katerega lahko določimo trajektorijo in gibanje robota med metom na koš. Vsebina zajema delo s posebno knjižnico v programu MATLAB, ki se imenuje RVCtools in zajema orodja s katerimi smo si pomagali pri preračunih.

Keywords

robot UR5;met na koš;načrtovanje trajektorije;kinematični model;diplomske naloge;

Data

Language: Slovenian
Year of publishing:
Typology: 2.11 - Undergraduate Thesis
Organization: UM FS - Faculty of Mechanical Engineering
Publisher: [A. Picej]
UDC: 007.52(043.2)
COBISS: 21052182 Link will open in a new window
Views: 1002
Downloads: 162
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Other data

Secondary language: English
Secondary title: Motion determenation of a 6-axis collaborative robot UR5 for robotic free throw
Secondary abstract: The university graduation thesis discusses the robotic free throw. Two methods are described to determine movement of the collaborative 6-axis robot UR5. The analyses of free throw and human basketball shot as well as the imitation of human hand motion with robot are shown. The kinematic model of the robot, by means of which trajectory and robot movement during basket shooting can be determined is also written. The thesis also includes simulations with particular toolbox in MATLAB programme, named RVCtools and incorporates tools we helped with during our calculations.
Secondary keywords: free throw;trajectory planning;kinematic model;
URN: URN:SI:UM:
Type (COBISS): Bachelor thesis/paper
Thesis comment: Univ. v Mariboru, Fak. za elektrotehniko, računalništvo in informatiko, Mehatronika
Pages: VIII, 58 f.
ID: 10861102