diplomsko delo
Matevž Poberžnik (Avtor), Ivan Bratko (Mentor)

Povzetek

Daljinsko vodenje robota s posnemanjem operaterjevih gibov

Ključne besede

upravljanje robotske roke;humanoidni robot Nao;komplementarni filter;žiroskop;pospeškometer;magnetometer;rotacijska matrika;računalništvo;računalništvo in informatika;računalništvo in matematika;univerzitetni študij;diplomske naloge;

Podatki

Jezik: Slovenski jezik
Leto izida:
Tipologija: 2.11 - Diplomsko delo
Organizacija: UL FRI - Fakulteta za računalništvo in informatiko
Založnik: [M. Poberžnik]
UDK: 007.5:004.5(043.2)
COBISS: 10238036 Povezava se bo odprla v novem oknu
Št. ogledov: 50
Št. prenosov: 16
Ocena: 0 (0 glasov)
Metapodatki: JSON JSON-RDF JSON-LD TURTLE N-TRIPLES XML RDFA MICRODATA DC-XML DC-RDF RDF

Ostali podatki

Sekundarni jezik: Angleški jezik
Sekundarni naslov: Remote robot control through mimicing operatorʼs movement
Sekundarni povzetek: In this thesis I describe the development of a human robot interface, specifically, an interface to control the arm of humanoid robot Nao. My controller consists of low-cost sensors - gyroscopes, accelerometers and magnetometers, which are strapped to a human arm. Using this hardware, my goal was to implement software filters to establish an accurate mapping between a human and a robot arm. The hardware part of the interface that takes care of data acquisition consists of a microcontroller, the sensors and a Bluetooth communication interface. I describe all hardware parts in details and explain the communication between the microcontroller and sensors and PC. Furthermore, I designed an algorithm for computation of spatial rotation from the obtained sensory data. I used complementary filter to join the data. I describe sensor calibration procedures, the problems I encountered during calibration and propose the solutions, which diminish the errors as much as possible. I study the differences between a human and Nao's arm and propose a method for Nao arm control from gathered data. I test my system on three simple tasks with respect to the complexity and accuracy of controlling Nao's arm.
Sekundarne ključne besede: robotic arm control;humanoid robot Nao;complementary filter;gyroscope;accelerometer;magnetometer;rotational matrix;computer science;computer and information science;computer science and mathematics;diploma;
Vrsta datoteke: application/pdf
Vrsta dela (COBISS): Diplomsko delo
Komentar na gradivo: Univerza v Ljubljani, Fakulteta za računalništvo in informatiko
Strani: 58 str.
ID: 24190923