Integracija robotske roke z mobilnim robotom Turtlebot

zaključna naloga Univerzitetnega študijskega programa I. stopnje Strojništvo - Razvojno raziskovalni program

Klemen Pintarič (Author), Rok Vrabič (Mentor)

Abstract

V praksi je vedno bolj prevladujoč trend sočasnega delovanja več robotov. V tej zaključni nalogi je predstavljena ideja integracije robotske roke in mobilnega robota, v povezan sklop, ki bi bil zmožen usklajenega delovanja. Predstavljeno je sestavljanje robotske roke, fizična integracija te robotske roke z mobilnim robotom in osnove gibanja takšnega robota. Dotaknili se bomo programiranja (inverzna kinematika, komunikacija med roboti) v okolju Arduino, komunikacija med robotsko roko in Turtlebotom pa bo potekala preko sistema ROS. Predstavljena je tudi ideja uporabe simulatorjev pri programiranju robotov. Ugotovili smo, da je integracija teh robotov mogoča in deluje z izbrano metodo, čeprav je Arduino zelo omejujoč pri matematiki.

Keywords

diplomske naloge;robotika;ROS;simulacije robotov;Gazebo;Arduino;Python;inverzna kinematika;Turtlebot;

Data

Language:	Slovenian
Year of publishing:	2023
Typology:	2.11 - Undergraduate Thesis
Organization:	UL FS - Faculty of Mechanical Engineering
Publisher:	[K. Pintarič]
UDC:	007.52:62-5(043.2)
COBISS:	162768131
Views:	77
Downloads:	29
Average score:	0 (0 votes)
Metadata:

Other data

Secondary language:	English
Secondary title:	Integrating a robotic arm with the mobile robot Turtlebot
Secondary abstract:	In contemporary practice, the collaboration of multiple robots is becoming increasingly commonplace. This thesis presents a detailed examination of an interesting idea: the integration of a robotic arm and a mobile robot into a singular, cohesive unit capable of coordinated action. The process encompasses the assembly of the robotic arm, its physical incorporation into the mobile robot, and an introduction to the fundamental principles governing the movement and programming of such an integrated robotic system. Our work ventures into programming aspects such as inverse kinematics and inter-robot communication, employing the Arduino environment for controlling the robotic arm. Meanwhile, the Robot Operating System (ROS) serves as the medium for facilitating communication between the robotic arm and the TurtleBot mobile robot platform. Moreover, this thesis explores the potential application of simulators in robot programming. The findings of our research indicate that the integration of these robots is possible with the chosen methodology. However, it's worth noting that while the Arduino platform provides an accessible means for robot programming, it does present certain constraints, particularly with complex mathematical operations.
Secondary keywords:	thesis;robotics;ROS;robot simulation;robot arms;Gazebo;Arduino;Python;inverse kinematics;Turtlebot;
Type (COBISS):	Final paper
Study programme:	0
Embargo end date (OpenAIRE):	1970-01-01
Thesis comment:	Univ. v Ljubljani, Fak. za strojništvo
Pages:	XIV, 31 f.
ID:	19661066