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master's thesis
Praćenje korijena zavara robotskim vidom
Zagreb: University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, 2019. urn:nbn:hr:235:949255
Marinović, Ilija
University of Zagreb
Faculty of Mechanical Engineering and Naval Architecture

Cite this document

Marinović, I. (2019). Praćenje korijena zavara robotskim vidom (Master's thesis). Zagreb: University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture. Retrieved from https://urn.nsk.hr/urn:nbn:hr:235:949255

Marinović, Ilija. "Praćenje korijena zavara robotskim vidom." Master's thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, 2019. https://urn.nsk.hr/urn:nbn:hr:235:949255

Marinović, Ilija. "Praćenje korijena zavara robotskim vidom." Master's thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, 2019. https://urn.nsk.hr/urn:nbn:hr:235:949255

Marinović, I. (2019). 'Praćenje korijena zavara robotskim vidom', Master's thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, accessed 01 January 2025, https://urn.nsk.hr/urn:nbn:hr:235:949255

Marinović I. Praćenje korijena zavara robotskim vidom [Master's thesis]. Zagreb: University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture; 2019 [cited 2025 January 01] Available at: https://urn.nsk.hr/urn:nbn:hr:235:949255

I. Marinović, "Praćenje korijena zavara robotskim vidom", Master's thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, Zagreb, 2019. Available at: https://urn.nsk.hr/urn:nbn:hr:235:949255

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Metadata
TitlePraćenje korijena zavara robotskim vidom
Title (english)Tracking welding seams with robotic vision
AuthorIlija Marinović
MentorBojan Jerbić (mentor)
GranterUniversity of Zagreb
Faculty of Mechanical Engineering and Naval Architecture
Zagreb
Defense date and country2019-07-11, Croatia
Scientific / art field,
discipline and subdiscipline		TECHNICAL SCIENCES
Mechanical Engineering
Abstract
U ovom radu su razvijena i implementirana programska rješenja koja služe kao polu-automatski sustav za praćenje konture zavara. Rad se bavi rješavanjem problema korekcije putanje vrha alata na temelju slike konture zavara na kojoj se vidi laserska zraka. Program i algoritam za praćenje su razvijeni na način da korisniku dozvoljava kompletnu modifikaciju svih elemenata. Za potrebe ovog rada razvijena je komunikacijska veza između robota, kamera i računala. Napravljen je sustav u kojem korisnik odabire željenu trajektoriju zavara koju robot kasnije sam korigira pomoću vizijskih značajki. Interaktivno korisničko sučelje nudi korisniku mogućnost odabira više načina rada, također ostavljene su opcije rada koje omogućuju nove kalibracije i dodatnu modifikaciju programskog koda. Okosnicu rada čini komunikacija koja je razvijena između robota, računala i kamera na način da robot svoje položaje javlja računalu dok s druge strane računalo obrađuje informacije koje dobiva od kamere te ih šalje robotu. Uz to prikazana je kompletna analiza slike procesirana u knjižnici otvorenog koda OpenCV uz pomoć softverskog paketa Visual Studio 2015 u kojem je pisan C++ kod. Obrađeni su i teoretski segmenti povezani s procesiranjem slike i kinematikom robota. Struktura rada sastoji se od uvoda, osnovnih informacija o korištenim elementima sustava i njihovoj interakciji, razrada analize slika, teoretska podloga iz robotike i vizijskih sustava, povezivanje s robotom te naposljetku slijedi implementacija programa.
Abstract (english)
This paper deals with development and implementation of programmed solutions that serve as semi-automatic system for tracking the weld seam. The paper deals with solving the problem of correcting the TCP based on the contour image of the disturbance of laser beam. The program and algorithm were developed in a way that allows the complete modification of all the elements. The interactive user interface offers a wide range of possibilities of work and also consists work options that enable new calibrations and additional modification of programmed code. The core of the work is communication developed among the robot, computer and cameras in the way that robot firstly sends its positions to the computer, secondly the computer processes information received from the camera and after that information is sent back to the robot again. Furthermore, the complete image analysis is processed in the open source library OpenCV with the help of the Visual Studio 2015 with the C ++ code written. The theoretical segments connected to the image processing and robot kinematics were processed. The structure of work is consisted of introduction, basical information about the system element used together with their interaction, complete analysis of the images, Theoretical data from robotics and vision inspection system, connection with the robot and the implementation of the system.
Keywords
Keywords (english)
Languagecroatian
URN:NBNurn:nbn:hr:235:949255
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
Terms of useLicence In copyright icon
RepositoryRepository of Faculty of Mechanical Engineering and Naval Architecture University of Zagreb
Created on2019-07-04 08:43:57

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