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master's thesis
Robotski manipulator za ispisivanje fotografija
Zagreb: University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, 2020. urn:nbn:hr:235:868762
Paradžik, Ivan
University of Zagreb
Faculty of Mechanical Engineering and Naval Architecture

Cite this document

Paradžik, I. (2020). Robotski manipulator za ispisivanje fotografija (Master's thesis). Zagreb: University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture. Retrieved from https://urn.nsk.hr/urn:nbn:hr:235:868762

Paradžik, Ivan. "Robotski manipulator za ispisivanje fotografija." Master's thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, 2020. https://urn.nsk.hr/urn:nbn:hr:235:868762

Paradžik, Ivan. "Robotski manipulator za ispisivanje fotografija." Master's thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, 2020. https://urn.nsk.hr/urn:nbn:hr:235:868762

Paradžik, I. (2020). 'Robotski manipulator za ispisivanje fotografija', Master's thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, accessed 25 April 2024, https://urn.nsk.hr/urn:nbn:hr:235:868762

Paradžik I. Robotski manipulator za ispisivanje fotografija [Master's thesis]. Zagreb: University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture; 2020 [cited 2024 April 25] Available at: https://urn.nsk.hr/urn:nbn:hr:235:868762

I. Paradžik, "Robotski manipulator za ispisivanje fotografija", Master's thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, Zagreb, 2020. Available at: https://urn.nsk.hr/urn:nbn:hr:235:868762

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Metadata
TitleRobotski manipulator za ispisivanje fotografija
Title (english)A robotic manipulator for printing photos
AuthorIvan Paradžik
MentorTomislav Stipančić (mentor)
GranterUniversity of Zagreb
Faculty of Mechanical Engineering and Naval Architecture
Zagreb
Defense date and country2020-05-15, Croatia
Scientific / art field,
discipline and subdiscipline		TECHNICAL SCIENCES
Mechanical Engineering
Abstract
Kroz ovaj rad je osmišljen i napravljen niskobudžetni manipulator s tri stupnja slobode gibanja koji služi za ispisivanje fotografija. Manipulator se sastoji od jednostavne konstrukcije povezane sa sklopovskom podrškom koja omogućuje pokretanje mehanizma manipulatora. Sklopovska podrška sastoji se od dva koračna motora s upravljačkim sklopovima koji služe za rotaciju ruku manipulatora te servo motora koji služi za podizanje i spuštanje kemijske olovke od podloge manipulatora. Mikrokontroler koji se koristi za upravljanje manipulatorom je Raspberry Pi Zero W. Napravljena je programska podrška upravljanja manipulatora temeljena na izvedenom matematičkom modelu kojim se definira položaj kemijske olovke u koordinatnom sustavu manipulatora. Programska podrška manipulatora pisana je u Python programskom jeziku. Napravljena je i programska podrška obrade fotografije. Rezultati obrade fotografije koriste se za upravljanje manipulatorom na načina da se manipulatoru redom zadaju točke po kojima se mora gibati kako bi ispisao fotografiju. U konačnici su prikazani eksperimentalni rezultati obrade fotografije i ispisa obrađene fotografije pomoću napravljenog robotskog manipulatora.
Abstract (english)
The goal of this master's thesis is to design and construct low cost robotic manipulator with three degrees of freedom whose purpose is to print photos. Simple construction is connected with hardware system that enables control of manipulator mechanism. Hardware parts used for this project are two stepper motors with motor drivers which enable rotational movement of the manipulator arms, and one servo motor that enables lowering and lifting of the pen from the drawing surface. Microcontroller used for controlling the manipulator is Raspberry Pi Zero W. Implemented control software uses mathematical model which defines the position of the pen in coordinate system of manipulator. Control software uses result of the image processing software, which represents the path that the manipulator must traverse in order to print a photo. Both softwares are implemented in Python programming language. Finally, experimental results of image processing as well as images, printed by the manipulator using those results, are shown.
Keywords
Keywords (english)
Languagecroatian
URN:NBNurn:nbn:hr:235:868762
Study programmeTitle: Mechanical Engineering
Study programme type: university
Study level: graduate
Academic / professional title: magistar/magistra inženjer/inženjerka strojarstva (magistar/magistra inženjer/inženjerka strojarstva)
Type of resourceText
File originBorn digital
Access conditionsOpen access
Embargo expiration date: 2022-05-11
Terms of useLicence In copyright icon
RepositoryRepository of Faculty of Mechanical Engineering and Naval Architecture University of Zagreb
Created on2020-05-11 10:31:28

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