Vodenje učne robotske roke Lynxmotion AL5D z uporabo senzorja Kinect

diplomsko delo

David Zorec (Author), Aleš Hace (Mentor), Uroš Župerl (Mentor)

Abstract

V diplomskem delu je predstavljeno delovanje sistema za avtonomno zaznavanje, lociranje in manipuliranje z objektom, kar pomeni, da senzor Kinect, ki je uporabljen v nalogi, zazna objekt in določi njegov položaj v prostoru. Računalnik uporabi podatke o lokaciji za izračun inverznega kinematičnega modela robotske roke, ki manipulira z objektom. Prednost takega sistema je, da je položaj objekta lahko naključen (ni vnaprej znan), saj senzor Kinect sledi objektu v realnem času. To je tudi razlog, da tak sistem lahko deluje samostojno, brez pomoči človeka.

Keywords

robotska roka AL5D;globinska slika;Kinect;inverzna kinematika;

Data

Language:	Slovenian
Year of publishing:	2014
Typology:	2.11 - Undergraduate Thesis
Organization:	UM FERI - Faculty of Electrical Engineering and Computer Science
Publisher:	[D. Zorec]
UDC:	004.896:531.1(043.2)
COBISS:	18481942
Views:	1098
Downloads:	93
Average score:	0 (0 votes)
Metadata:

Other data

Secondary language:	English
Secondary title:	CONTROL OF THE EDUCATIONAL ROBOTIC ARM LYNXMOTION AL5D USING THE KINECT SENSOR
Secondary abstract:	This thesis presents the system that autonomously detects, locates and manipulates with objects. This means that the Kinect sensor detects an object and determines its position in space. The computer uses location data to calculate the inverse kinematic model of the robot arm which manipulates with objects. The advantage of such a system is that the position of the object can be random (not known in advance), because the Kinect sensor is able to track objects in real time. This is why such a system can operate independently, without the help of a human.
Secondary keywords:	robotic arm AL5D;depth image;Kinect;inverse kinematics;
URN:	URN:SI:UM:
Type (COBISS):	Bachelor thesis/paper
Thesis comment:	Univ. v Mariboru, Fak. za elektrotehniko, računalništvo in informatiko, Mehatronika
Pages:	XIII, 47 f.
ID:	8731116