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undergraduate thesis
Kinematska kalibracija mobilnog robota diferencijalne strukture koristeći OptiTrack sustav
Zagreb: University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, 2024. urn:nbn:hr:235:230204
Koprivnjak, Zvonimir
University of Zagreb
Faculty of Mechanical Engineering and Naval Architecture

Cite this document

Koprivnjak, Z. (2024). Kinematska kalibracija mobilnog robota diferencijalne strukture koristeći OptiTrack sustav (Undergraduate thesis). Zagreb: University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture. Retrieved from https://urn.nsk.hr/urn:nbn:hr:235:230204

Koprivnjak, Zvonimir. "Kinematska kalibracija mobilnog robota diferencijalne strukture koristeći OptiTrack sustav." Undergraduate thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, 2024. https://urn.nsk.hr/urn:nbn:hr:235:230204

Koprivnjak, Zvonimir. "Kinematska kalibracija mobilnog robota diferencijalne strukture koristeći OptiTrack sustav." Undergraduate thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, 2024. https://urn.nsk.hr/urn:nbn:hr:235:230204

Koprivnjak, Z. (2024). 'Kinematska kalibracija mobilnog robota diferencijalne strukture koristeći OptiTrack sustav', Undergraduate thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, accessed 04 December 2024, https://urn.nsk.hr/urn:nbn:hr:235:230204

Koprivnjak Z. Kinematska kalibracija mobilnog robota diferencijalne strukture koristeći OptiTrack sustav [Undergraduate thesis]. Zagreb: University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture; 2024 [cited 2024 December 04] Available at: https://urn.nsk.hr/urn:nbn:hr:235:230204

Z. Koprivnjak, "Kinematska kalibracija mobilnog robota diferencijalne strukture koristeći OptiTrack sustav", Undergraduate thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, Zagreb, 2024. Available at: https://urn.nsk.hr/urn:nbn:hr:235:230204

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Metadata
TitleKinematska kalibracija mobilnog robota diferencijalne strukture koristeći OptiTrack sustav
Title (english)Kinematic calibration of a differential drive mobile robot using the OptiTrack system
AuthorZvonimir Koprivnjak
MentorMarko Švaco (mentor)
GranterUniversity of Zagreb
Faculty of Mechanical Engineering and Naval Architecture
Zagreb
Defense date and country2024-02-28, Croatia
Scientific / art field,
discipline and subdiscipline		TECHNICAL SCIENCES
Mechanical Engineering
Abstract
Završni rad obrađuje zadatak implementacije kinematske kalibracije mobilnog robota ASTRO koji je razvijen kao prototip niske razine u Regionalnom centru izvrsnosti za robotske tehnologije-CRTA. Mobilni robot se upravlja s pomoću robotskog operativnog sustava (eng. Robot Operating System – ROS2), u kojem se stvaraju čvorovi koji generiraju reference putanje u obliku kvadrata, kruga i ravne linije. Primjenom OptiTrack sustava kamera za praćenje pozicija u prostoru pratit će se i bilježiti stvarna putanja robota, slijedno tome usporedit će se stvarna putanja s referentnom putanjom. Odabirom jedne od predloženih kinematskih kalibracijskih metoda, u ovom slučaj UMBmark metoda i proširena UMBmark metoda. Nakon implementacije kalibracijske metode robotu se ponovno zadaju reference kao na početku te se s pomoću OptiTrack sustava prati stvarna putanja robota. U završnom koraku grafički je prikazana usporedba rezultat nakon kretanja robota prije i poslije kinematske kalibracije mobilnog robota.
Abstract (english)
The final paper addresses the task of implementing kinematic calibration of the ASTRO mobile robot, which was developed as a low-level prototype at the Regional Center of Excellence for Robotic Technology (CRTA). The mobile robot is controlled using the Robot Operating System (ROS2), where nodes are created to generate reference paths in the form of squares, circles, and straight lines. By employing the OptiTrack camera tracking system to monitor and record the actual robot path in space, the actual path will be compared with the reference path. One of the proposed kinematic calibration methods will be selected, in this case, the UMBmark method and the extended UMBmark method. After implementing the calibration method, references are re-assigned to the robot as at the beginning, and the actual robot path is monitored using the OptiTrack system. In the final step, a graphical comparison is shown between the results before and after the kinematic calibration of the mobile robot.
Keywords
Keywords (english)
Languagecroatian
URN:NBNurn:nbn:hr:235:230204
Study programmeTitle: Mechanical Engineering
Study programme type: university
Study level: undergraduate
Academic / professional title: sveučilišni/a prvostupnik/ prvostupnica (baccalaureus/baccalaurea) inženjer/inženjerka strojarstva (sveučilišni/a prvostupnik/ prvostupnica (baccalaureus/baccalaurea) inženjer/inženjerka strojarstva)
Type of resourceText
File originBorn digital
Access conditionsOpen access
Terms of useLicence In copyright icon
RepositoryRepository of Faculty of Mechanical Engineering and Naval Architecture University of Zagreb
Created on2024-02-25 22:25:35

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