Primer napredne robotske manipulacije z redundantno robotsko roko Franka Emika Panda in ROS

magistrsko delo

Rok Casar (Author), Uroš Župerl (Mentor), Aleš Hace (Mentor)

Abstract

V magistrski nalogi smo raziskali uporabo redundantnih robotskih manipulatorjev za izboljšanje prilagodljivosti in zmogljivosti pri izvajanju nalog v okoljih z ovirami, s poudarkom na robota Franka Emika Panda. Osredotočili smo se na analizo in primerjavo različnih načrtovalnikov poti ter reševalnikov inverzne kinematike, da bi ocenili njihovo učinkovitost pri obvladovanju sklepnih omejitev in izogibanju oviram. Z razvojem aplikacije pobiranja in odlaganja (angl. Pick and place) v okolju ROS in z orodjem Moveit smo demonstrirali, kako redundantnost omogoča izboljšano manevriranje in kompleksne gibe, ki so potrebni za napredne robotske aplikacije. Rezultati kažejo, da je pristop s poudarkom na redundantnosti bistven za doseganje boljših operativnih sposobnosti robota, še posebej v zahtevnih industrijskih okoljih.

Keywords

ROS;Moveit;Franka Emika Panda;redundantnost;robot;izogibanje oviram;manipulacija;načrtovanje poti;magistrke naloge;

Data

Language:	Slovenian
Year of publishing:	2024
Typology:	2.09 - Master's Thesis
Organization:	UM FS - Faculty of Mechanical Engineering
Publisher:	[R. Casar]
UDC:	007.52(043.2)
COBISS:	226179331
Views:	0
Downloads:	11
Average score:	0 (0 votes)
Metadata:

Other data

Secondary language:	English
Secondary title:	A Case Study of Advanced Robotic Manipulation with the Redundant Franka Emika Panda Robotic Arm and ROS
Secondary abstract:	In this master's thesis, we explored the use of redundant robotic manipulators to enhance flexibility and performance in task execution within obstacle-laden environments, focusing on the Franka Emika Panda robot. We concentrated on analyzing and comparing various path planners and inverse kinematics solvers to assess their effectiveness in managing joint limitations and avoiding obstacles. Through the development of the Pick and Place application in the Robot Operating System (ROS) using the MoveIt toolkit, we demonstrated how redundancy enables improved maneuvering and complex movements essential for advanced robotic applications. The results indicate that an approach emphasizing redundancy is crucial for achieving better operational capabilities of robots, especially in demanding industrial settings.
Secondary keywords:	ROS;Moveit;Franka Emika Panda;redundancy;robot;collision avoidance;manipulation;path planning;
Type (COBISS):	Master's thesis/paper
Thesis comment:	Univ. v Mariboru, Fak. za strojništvo, Mehatronika
Pages:	1 spletni vir (1 datoteka PDF (XI, 78 f.))
ID:	25181565