magistrsko delo magistrskega študijskega programa II. stopnje Strojništvo
Matej Razingar (Author), Rok Vrabič (Mentor)

Abstract

Industrijski roboti so v svojem življenjskem ciklu običajno prilagojeni eni nalogi, kjer proizvajalec zagotovi določeno senzoriko in programsko okolje, v katerem je robota možno programirati. Problem pa nastane, če robota želimo uporabiti za napredno aplikacijo, za katero ni bil prvotno namenjen in kjer je potrebna druga senzorika. ROS (ang. Robot operating system) platforma nam omogoča enostaven priklop senzorjev na osebni računalnik in razvoj aplikacije v programskih jezikih C++ ali Python. S pomočjo osebnega računalnika lahko razvijemo napredne aplikacije, kjer je delovanje robota prilagojeno okolju, ki ga v realnem času zaznava s senzorji. V delu je obravnavano kreiranje modela robota, kompatibilnega z ROS platformo in postopek priključitve in umerjanja dodatne kamere. Razvit je bil algoritem za obdelavo slike iz kamere, ki v realnem času zaznava pozicijo lukenj in objektov. Ovrednoteni so bili različni planerji poti znotraj ROS. Prikazan je razvoj ROS storitve za upravljanje z digitalnimi vhodi / izhodi robota, ki omogoča upravljanje s prijemalom robota. Razvita je bila aplikacija primi - položi, ki s pomočjo slike iz kamere uspešno zazna objekte in luknje, robot pa glede na glede na zaznane lokacije prelaga objekte med prostimi luknjami.

Keywords

magistrske naloge;industrijska robotika;računalniški vid;planiranje gibanja;primi-položi;robotski operacijski sistem (ROS);Moveit;

Data

Language: Slovenian
Year of publishing:
Typology: 2.09 - Master's Thesis
Organization: UL FS - Faculty of Mechanical Engineering
Publisher: [M. Razingar]
UDC: 007.52:681.5:004.896(043.2)
COBISS: 28776451 Link will open in a new window
Views: 400
Downloads: 130
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Other data

Secondary language: English
Secondary title: Integration of industrial robot with opensource software ROS-Industrial
Secondary abstract: Usually, industrial robots are dedicated to one task during their lifecycle, where manufacturer provides certain sensorics and software environment, where a robot can be programed. The problem arises when we want to use a robot for advanced aplication where additional sensorics is required. ROS platform enables us to plug sensors to personal computer and to program the robot in programming languages C++ or Python. With the help of ROS personal computer advanced applications can be developed. These applications include real-time adjusting of the robot to the environment with the help of sensors. In this thesis, model of ROS (Robot operating system) compatible robot was created. The process of connecting and calibration of additional camera is presented. Computer vision algorithm for hole and object detection was developed. Different planners available on ROS platform are evaluated. ROS service to control digital outputs/inputs, which enables us to control the gripper was developed. Finally, pick and place application was developed. Pick and place application uses successfully detected objects and holes from the camera for picking the objects and placing them in the free holes.
Secondary keywords: master thesis;industrial robotics;computer vision;path planning;pick and place;
Type (COBISS): Master's thesis/paper
Study programme: 0
Embargo end date (OpenAIRE): 1970-01-01
Thesis comment: Univ. Ljubljana, Fak. za strojništvo
Pages: XXII, 56 str.
ID: 12006054
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