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

Abstract

Robotski manipulatorji so že desetletja ključen del proizvodnje, zadnja leta pa so na porastu aplikacije robotov v nestrukturiranem okolju storitvenega sektorja. Njihova najpomembnejša lastnost je zmožnost prilagajanja na nepredvidene interakcije z okolico. Magistrsko delo obravnava postopek razvoja krmilnega programa sodelovalnega robota, ki izvajalcu pomaga pri laserski terapiji kože pacienta. Nadzorna shema vodi manipulator po trajektoriji, ki je generirana v realnem času in se prilagaja geometriji človeškega telesa. Predstavljena je teorija robotskih manipulatorjev in opisan postopek izdelave krmilnega programa na realnem in simuliranem robotu. Na koncu je demonstrirano delovanje sistema.

Keywords

magistrske naloge;robotika;sodelovalni roboti;robotski operacijski sistem;libfranka;adaptivno krmiljenje;sledenje trajektoriji;

Data

Language: Slovenian
Year of publishing:
Typology: 2.09 - Master's Thesis
Organization: UL FS - Faculty of Mechanical Engineering
Publisher: [M. Rus]
UDC: 007.52:62-50:681.52(043.2)
COBISS: 191018755 Link will open in a new window
Views: 22
Downloads: 43
Average score: 0 (0 votes)
Metadata: JSON JSON-RDF JSON-LD TURTLE N-TRIPLES XML RDFA MICRODATA DC-XML DC-RDF RDF

Other data

Secondary language: English
Secondary title: Development of a Cartesian velocity controller of a collaborative robot
Secondary abstract: Robotic manipulators have been a key part of production for decades, but in recent years there has been an increase in robot applications in the unstructured environment of the service sector. Their most important feature is the ability to adapt to unforeseen interactions with the environment. The master's thesis discusses the process of developing a control program for a collaborative robot that helps the operator in laser therapy of the patient's skin. The control scheme guides the manipulator along a trajectory that is generated in real time and adapts to the geometry of the human body. The theory of robot manipulators is presented and the process of creating a control program on a real and simulated robot is described. Finally, the operation of the system is demonstrated.
Secondary keywords: master thesis;robotics;collaborative robots;Robot Operating System;libfranka;adaptive control;trajectory tracking;
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, 56 str.
ID: 23281756
Recommended works:
, magistrsko delo magistrskega študijskega programa II. stopnje Strojništvo
, načrtovanje interakcij s sodelujočim robotom
, diplomsko delo Visokošolskega strokovnega študijskega programa I. stopnje Strojništvo
, zaključna naloga Razvojno raziskovalnega programa I. stopnje Strojništvo
, magistrsko delo