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undergraduate thesis
Izrada korisničkog sučelja i algoritama za upravljanje gibanja Panda robotske ruke
Zagreb: University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, 2022. urn:nbn:hr:235:112718
Domitrek, Tin
University of Zagreb
Faculty of Mechanical Engineering and Naval Architecture

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Domitrek, T. (2022). Izrada korisničkog sučelja i algoritama za upravljanje gibanja Panda robotske ruke (Undergraduate thesis). Zagreb: University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture. Retrieved from https://urn.nsk.hr/urn:nbn:hr:235:112718

Domitrek, Tin. "Izrada korisničkog sučelja i algoritama za upravljanje gibanja Panda robotske ruke." Undergraduate thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, 2022. https://urn.nsk.hr/urn:nbn:hr:235:112718

Domitrek, Tin. "Izrada korisničkog sučelja i algoritama za upravljanje gibanja Panda robotske ruke." Undergraduate thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, 2022. https://urn.nsk.hr/urn:nbn:hr:235:112718

Domitrek, T. (2022). 'Izrada korisničkog sučelja i algoritama za upravljanje gibanja Panda robotske ruke', Undergraduate thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, accessed 23 November 2024, https://urn.nsk.hr/urn:nbn:hr:235:112718

Domitrek T. Izrada korisničkog sučelja i algoritama za upravljanje gibanja Panda robotske ruke [Undergraduate thesis]. Zagreb: University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture; 2022 [cited 2024 November 23] Available at: https://urn.nsk.hr/urn:nbn:hr:235:112718

T. Domitrek, "Izrada korisničkog sučelja i algoritama za upravljanje gibanja Panda robotske ruke", Undergraduate thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, Zagreb, 2022. Available at: https://urn.nsk.hr/urn:nbn:hr:235:112718

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Metadata
TitleIzrada korisničkog sučelja i algoritama za upravljanje gibanja Panda robotske ruke
Title (english)User interface development and motion control programming for the Panda robotic arm
AuthorTin Domitrek
MentorMarko Švaco (mentor)
GranterUniversity of Zagreb
Faculty of Mechanical Engineering and Naval Architecture
Zagreb
Defense date and country2022-09-22, Croatia
Scientific / art field,
discipline and subdiscipline		TECHNICAL SCIENCES
Mechanical Engineering
Production Mechanical Engineering
Abstract
U ovom radu se opisuje postupak razvoja korisničkog sučelja za upravljanje na niskoj razini sa Franka Emika Panda robotskom rukom koja ima 7 stupnjeva slobode. Najprije se rješava problem spajanja gdje se moraju zadovoljiti zahtjevi za upravljanjem na niskoj razini, koji se rješava instalacijom real-time kernela na Linux Ubuntu sustavu i postavljanjem statičkih IP adresa kojim su povezani robot i radna stanica. Koristi se FCI (Franka Control Interface) izdan od strane Franka Emike koji služi kao posrednik između robota i sučelja, te libfranka C++ knjižnica koja sadrži kolekciju funkcija i kontrolera za upravljanje robotskom rukom i hvataljkom. Korištenjem Qt Creator alata koji se temelji na C++ programskom jeziku i libfranka knjižnice razvijeno je korisničko sučelje sa mogućnošću stvaranja sekvencijalnih zadataka koji dopuštaju otvaranje/zatvaranje hvataljke, point-to-point gibanje, linearno gibanje, gibanje zglobova, te kontrolu impedancije. Problem pozicije rješava se izračunom inverzne kinematike robotske ruke unutar algoritma, a orijentacija uz pomoć funkcija libfranke i slerpa.
Abstract (english)
This paper describes the process of developing a low-level user control interface system for Franka Emika Panda robotic arm, which has 7 degrees of freedom. Firstly, the connection problem where low-level control requirements must be met is addressed, which is solved by installing a real-time kernel on a Linux Ubuntu system and setting static IP addresses to which the robot and workstation are connected. The FCI (Franka Control Interface) released by Franka Emika is used, which serves as an intermediary between the robot and the interface, and a libfranka C++ library which contains a collection of functions and motion controllers for controlling the robotic arm and hand. Using the Qt Creator tool based on the C++ programming language and the libfranka library, a user interface was developed with the possibility of creating sequential tasks that allow opening/closing of the gripper, point-to-point motion, linear motion, joint motion, and impedance control. The position problem is solved by calculating inverse kinematics of the robot hand inside an algorithm, and the orientation with the help of libfranka functions and slerp.
Keywords
Keywords (english)
Languagecroatian
URN:NBNurn:nbn:hr:235:112718
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 Attribution-NonCommercial-NoDerivs 3.0 Unported (CC BY-NC-ND 3.0) icon
RepositoryRepository of Faculty of Mechanical Engineering and Naval Architecture University of Zagreb
Created on2022-09-22 07:31:23

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