magistrsko delo
Jaka Pustavrh (Author), Karl Gotlih (Mentor), Riko Šafarič (Mentor), Suzana Uran (Co-mentor)

Abstract

Namen te naloge je izdelati robota, ki s pomočjo ene kamere najde položaj objekta v prostoru. Končni izdelek je robotska roka s 3 prostostnimi stopnjami, izdelana iz jekla. V navpičnem iztegnjenem položaju meri približno 840 mm. Premikanje je izvedeno preko lastnih algoritmov in PID regulacije. Glavno gonilo robotske roke so BLDC motorji v zvezi z reduktorji. Prenos gibanja na 3. osi robota je narejen z zobatim jermenom. Ob idealnih pogojim smo dosegli natančnost do 1 cm, na daljavo do 3 m. Naloga zajema izdelavo robota, načrtovanje vezja, krmiljenje, komunikacijo, izdelavo algoritmov in preizkus robotske roke.

Keywords

robotika;računalniški vid;meritev položaja objekta z eno kamero;robotska roka;magistrske naloge;

Data

Language: Slovenian
Year of publishing:
Typology: 2.09 - Master's Thesis
Organization: UM FS - Faculty of Mechanical Engineering
Publisher: [J. Pustavrh]
UDC: 004.9:007.52(043.2)
COBISS: 120558083 Link will open in a new window
Views: 149
Downloads: 20
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Other data

Secondary language: English
Secondary title: Finding the position of an object in space with one camera
Secondary abstract: The purpose of this assignment is to build a robot, who will be able to find an object in space with one camera. Final product is a robot hand with 3 degrees of freedom, made from steel. In a straight vertical alignment it measures 840 mm. Movement is done through custom algorithms and PID control. Main driving force are BLDC motors in relation with planetary reductors. Transmission of movement to 3. axis is done with a gear belt. In ideal circumstance we have achieved an accuracy of 1 cm, at a distance of 3 m. Assignment contains building of the robot, circuit design, control, communication, finding algorithms of operation and testing.
Secondary keywords: robotics;computer vision;measuring position of an object with one camera;robotic hand;3 DOF;
Type (COBISS): Master's thesis/paper
Thesis comment: Univ. v Mariboru, Fak. za strojništvo, Mehatronika
Pages: 1 spletni vir (1 datoteka PDF (XII, 74 f.))
ID: 14692834