Razvoj mobilnega robota za trening tenisa

magistrsko delo magistrskega študijskega programa II. stopnje Strojništvo

Tone Ulčar (Author), Rok Vrabič (Mentor)

Abstract

Robotizirani sistemi se vse bolj uporabljajo na področju športa. Primer tega so naprave, namenjene treniranju tenisa. Le-te so zmožne izstreljevanja žogic poljubnih hitrosti, smeri in rotacij, kar teniškim igralcem omogoča lažji napredek pri igri. Na žalost pa so vse obstoječe naprave stacionarne, kar močno omeji pristnost teniškega treninga napram igri s soigralcem. Cilj magistrske naloge je razvoj mobilne platforme, sposobne premikanja in izstreljevanja teniških žogic po celotnem teniškem igrišču, in algoritma, ki bo zagotavljal robustno lokalizacijo mobilne platforme med premikanjem. V magistrskem delu so opisane glavne mehanske in elektronske komponente, potrebne za razvoj mobilnih robotov. Predstavljene so najpogosteje uporabljene procesne enote in komunikacijski protokoli, ki zagotavljajo zanesljivo procesiranje in prenos podatkov. Razvita je bila robotska platforma in predstavljena njena kinematika. Pregledana je bila literatura s področja lokalizacije, vse od najosnovnejšega komplementarnega filtra, pa do Kalmanovega filtra in njegovih izpeljank. Opisan je proces prototipiranja in validiranja lokalizacijskega algoritma v programskem jeziku Python. Izvedene so bile testne trajektorije ter predstavljeni in ovrednoteni končni rezultati.

Keywords

magistrske naloge;robotika;lokalizacija;algoritmi;senzorji;Kalmanov filter;vgradni sistemi;

Data

Language:	Slovenian
Year of publishing:	2023
Typology:	2.09 - Master's Thesis
Organization:	UL FS - Faculty of Mechanical Engineering
Publisher:	[T. Ulčar]
UDC:	007.52:658.512.2(043.2)
COBISS:	167973635
Views:	46
Downloads:	11
Average score:	0 (0 votes)
Metadata:

Other data

Secondary language:	English
Secondary title:	Development of a mobile robot for tennis training
Secondary abstract:	Robotic systems are increasingly used in the field of sports. An example of this are machines used for tennis training. They are capable of launching balls at preferred speeds, directions and rotations, which enables tennis players to make faster progress in their game. Unfortunately, all existing tennis ball launchers are stationary, which greatly limits the realism of tennis training versus playing with a teammate. The goal of the master’s thesis is the development of a mobile platform capable of moving and launching tennis balls throughout the tennis court, and an algorithm that will ensure robust localization of the mobile platform during movement. In the master’s thesis, we describe the main mechanical and electronic components necessary for the development of mobile robots. We describe the most commonly used processing units and communication protocols that ensure reliable processing and data transfer. We develop a robotic platform and present its kinematics. We review the localization literature, ranging from the most basic complementary filter to the Kalman filter and its derivatives. We describe the process of prototyping and validating a localization algorithm in the Python programming language. Finally, we execute test trajectories, present and evaluate the final results.
Secondary keywords:	master thesis;robotics;localization;algorithms;sensors;Kalman filter;embedded systems;
Type (COBISS):	Master's thesis/paper
Study programme:	0
Embargo end date (OpenAIRE):	1970-01-01
Thesis comment:	Univ. Ljubljana, Fak. za strojništvo
Pages:	XX, 54 str.
ID:	19872168