zaključna naloga Univerzitetnega študijskega programa I. stopnje Strojništvo - Razvojno raziskovalni program
Klara Nemanič (Author), Rok Vrabič (Mentor)

Abstract

Sodelovalna robotika ponuja nove priložnosti za sodelovanje človeka z robotom, zaradi česar je v preteklih desetletjih močno pridobila na popularnosti. Uporaba robotov se iz industrijskih okolij seli v domove, šole, itd. Roboti so po zasnovi stroji, ki skrbijo za avtomatizacijo procesov ter s tem olajšujejo vsakdan, vendar kljub svoji zmogljivosti vedno vzbujajo strah pri uporabnikih. Do sedaj je bila uporaba robotov omejena na kroge programerjev in inženirjev, saj so krmilni sistemi pogosto kompleksni in ne intuitivni. V tej zaključni nalogi predstavimo pristop za delo z industrijskim sodelujočim robotom, ki ga lahko krmilimo na preprost in zanimiv način, s čimer želimo uporabo robotov približati potencialnim uporabnikom. V delu napišemo program, ki nam omogoča upravljanje preko zaznave položaja rok uporabnika iz slike, katero zajemamo s kamero. Za izvedbo uporabimo sodelujočega robota Fanuc CR-7iA/L, sama programska oprema pa bo zasnovana v programskem jeziku Python. Za prepoznavo rok uporabimo knjižnici MediaPipe in OpenCV. Že z minimalno zasnovo nam uspe krmiliti robota, kar izkoristimo za risanje preprostih risb.

Keywords

diplomske naloge;mehatronika;zaznava rok;robotika;upravljanje robotov;python;opencv;robotske roke;sodelujoči roboti;strojni vid;strojno učenje;

Data

Language: Slovenian
Year of publishing:
Typology: 2.11 - Undergraduate Thesis
Organization: UL FS - Faculty of Mechanical Engineering
Publisher: [K. Nemanič]
UDC: 007.52:681.5:004.85(043.2)
COBISS: 82836227 Link will open in a new window
Views: 305
Downloads: 72
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Other data

Secondary language: English
Secondary title: Drawing with a robotic arm based on tracking hands
Secondary abstract: Collaborative robotics offers new ways for human-robot collaboration, for which it gained a large amount of popularity in recent decades. The use of robots is spilling from industrial environments to homes, schools, etc. Robots are designed to automate processes and offer help in many ways. Despite their indisputed capabilities, many people still distrust the use of robots. Until now the main users were programmers and engineers, mainly due to complex and non-intuitive controls. In this thesis we present a new approach to controlling robots in a natural and interesting way, hoping to popularize their use. We write a program for controlling an industrial robot via hand-tracking by using images captured with a camera. We test the approach by using a collaborative robot Fanuc CR-7iA/L and a basic built-in camera. To write the software we use the Python programming language, relying on MediaPipe and OpenCV libraries for hand recognition. Even a minimalistic approach offers sufficient control to create simple drawings with the robot.
Secondary keywords: thesis;mechatronics;hand tracking;robotics;robot control;python;opencv;robotic arms;collaborative robots;computer vision;machine learning;
Type (COBISS): Final paper
Study programme: 0
Embargo end date (OpenAIRE): 1970-01-01
Thesis comment: Univ. v Ljubljani, Fak. za strojništvo
Pages: XIV, 34 f.
ID: 13386222
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