Planiranje gibanja robotske ruke imitacijom pokreta čovjeka praćenog monokularnom kamerom

Jambrešić, Ana

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master's thesis

Planiranje gibanja robotske ruke imitacijom pokreta čovjeka praćenog monokularnom kamerom

Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing, 2024. urn:nbn:hr:168:905660

Jambrešić, Ana

University of Zagreb
Faculty of Electrical Engineering and Computing

Cite this document

APA 6th Edition

Jambrešić, A. (2024). Planiranje gibanja robotske ruke imitacijom pokreta čovjeka praćenog monokularnom kamerom (Master's thesis). Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing. Retrieved from https://urn.nsk.hr/urn:nbn:hr:168:905660

MLA 8th Edition

Jambrešić, Ana. "Planiranje gibanja robotske ruke imitacijom pokreta čovjeka praćenog monokularnom kamerom." Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2024. https://urn.nsk.hr/urn:nbn:hr:168:905660

Chicago 17th Edition

Harvard

Jambrešić, A. (2024). 'Planiranje gibanja robotske ruke imitacijom pokreta čovjeka praćenog monokularnom kamerom', Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, accessed 07 February 2025, https://urn.nsk.hr/urn:nbn:hr:168:905660

Vancouver

Jambrešić A. Planiranje gibanja robotske ruke imitacijom pokreta čovjeka praćenog monokularnom kamerom [Master's thesis]. Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing; 2024 [cited 2025 February 07] Available at: https://urn.nsk.hr/urn:nbn:hr:168:905660

IEEE

A. Jambrešić, "Planiranje gibanja robotske ruke imitacijom pokreta čovjeka praćenog monokularnom kamerom", Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, Zagreb, 2024. Available at: https://urn.nsk.hr/urn:nbn:hr:168:905660

Cite this item: https://urn.nsk.hr/urn:nbn:hr:168:905660

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Metadata

Title	Planiranje gibanja robotske ruke imitacijom pokreta čovjeka praćenog monokularnom kamerom
Title (english)	Robot arm motion planning by imitating human motion tracked with a monocular camera
Author	Ana Jambrešić
Mentor	Marija Seder (mentor)
Committee member	Ivan Marković (predsjednik povjerenstva)
Committee member	Ivan Petrović (član povjerenstva)
Committee member	Luka Petrović (član povjerenstva)
Granter	University of Zagreb Faculty of Electrical Engineering and Computing Zagreb
Defense date and country	2024-07-10, Croatia
Abstract	Razvoj sposobnosti robota da imitira ljudske pokrete znatno je transformirao industriju a tako i svakodnevni život. Ovaj diplomski rad fokusira se na razvoj sustava za praćenje pokreta čovjeka monokularnom kamerom te pretvorba tog pokreta u digitalni oblik i izvršavanje na robotskoj ruci Kinova Jaco. Korištenje samo monokularne kamere uklanja potrebu za složenom i skupom kamerom te čini proces teleoperacije intuitivnim i pristupačnim. U radu se primjenjuju algoritmi inverzne, direktne i diferencijalne kinematike za upravljanje robotskom rukom te model neuronske mreže otvorenog koda za detekciju i analizu pokreta ruku čovjeka. Integracija s ROS sustavom omogućava efikasno prenošenje ljudskog pokreta na robotsku ruku u stvarnom vremenu. Testiranje sustava je provedeno kroz simulacije u Gazebo okruženju te praktičnim eksperimentima s Kinova Jaco robotskom rukom.
Abstract (english)	The development of robots capabilities to imitate human movements has significantly transformed the industry as well as everyday life. This thesis focuses on developing a system for tracking human movements using a monocular camera, converting these movements into digital form, and executing them on the Kinova Jaco robotic arm. The use of only a monocular camera eliminates the need for complex and expensive equipment, making the teleoperation process intuitive and accessible. The study applies algorithms for inverse, forward, and differential kinematics for controlling the robotic arm and an open-source neural network model for detecting and analyzing human hand movements. Integration with the ROS system enables efficient transfer of human motion to the robotic arm in real-time. System testing was conducted through simulations in the Gazebo environment and practical experiments with the Kinova Jaco robotic arm.
Keywords
Keywords (english)
Language	croatian
URN:NBN	urn:nbn:hr:168:905660
Study programme	Title: Information and Communication Technology Study programme type: university Study level: graduate Academic / professional title: magistar/magistra inženjer/inženjerka informacijske i komunikacijske tehnologije (magistar/magistra inženjer/inženjerka informacijske i komunikacijske tehnologije)
Type of resource	Text
File origin	Born digital
Access conditions	Closed access
Terms of use
Public note
Repository	FER Repository
Created on	2024-10-12 20:55:19