20.500.12556/RUL-117220 Prilagajanje trajektorij robota glede na položaj operaterja Modification of robot trajectories based on the position of the operator V današnjem času se področje robotike zelo hitro razvija. K temu pripomore tudi težnja po višji produktivnosti dela in optimizaciji procesov na različnih področjih. V začetku so bili stroji robustni, njihovo delovno območje je bilo ograjeno, prisotnost ljudi pa odsvetovana. Z napredkom v tehnologiji se je tudi stopnja sodelovanja med človekom in strojem povečala. Danes lahko govorimo o sodelujočih robotih. V diplomskem delu smo se srečali z robotom Panda podjetja Franka Emika. Govora je o zelo naprednem robotu, ki je primeren za sodelovanje z ljudmi. Varnost robota smo skušali postaviti na še višjo raven in doseči, da se je zmožen umakniti človeku v njegovem delovnem prostoru. V delu smo predstavili področje sodelujočih robotov, kako je poskrbljeno za varnost in katere vrste nivojev sodelovanja poznamo. Opisali smo celoten robotski sistem, ki smo ga vključili v diplomsko nalogo in podrobno opisali postopka kalibracije robota s senzorjem ter izogibanje oviram. Za konec smo prikazali delovanje v realnih okoliščinah. Nowadays, the field of robotics is developing very fast. The tendency for higher labour productivity and process optimization in various fields also contributes to this. Initially, the machines were robust and the work area was fenced. Presence of people was discouraged. With advances in the technology, the level of human-robot interaction also increased. Today we can talk about collaborative robots. In the diploma thesis we used the robot Panda Franka Emika. It is an advanced robot designed to work with humans. We tried to bring the safety of the robot to an even higher level by improving its ability to avoid collisions with the human in the workspace. We presented the field of collaborative robots, how they enable safe interaction with the operator, and different levels of human-robot interaction. We described the robotic system implemented in the thesis and presented the calibration of the sensory system for avoiding obstacles. Finally, we have demonstrated operation of the collaborative robot with obstacle avoidance in a laboratory environment. sodelujoči roboti izogibanje oviram Leap Motion Panda Franka Emika collaborative robots obstacle avoidance Leap Motion Franka Emika true false false Slovenski jezik Angleški jezik Diplomsko delo/naloga 2020-07-02 14:55:16 2020-07-02 14:55:22 2022-08-29 03:41:57 0000-00-00 00:00:00 2020 0 0 0000-00-00 NiDoloceno NiDoloceno NiDoloceno 0000-00-00 0000-00-00 0000-00-00 1970-01-01 51541 Okroglic_Jure_-_Prilagajanje_trajektorij_robota_glede_na_polozaj_operaterja.pdf Okroglic_Jure_-_Prilagajanje_trajektorij_robota_glede_na_polozaj_operaterja.pdf 1 321C618114BA93B38D59A9F89018DEA0 035e5ec486363aad7fd862ab5efaaff4737528f209007aa3bf4453d25706bd6a 208b338f-a1b9-11eb-a523-00155dcfd717 https://repozitorij.uni-lj.si/Dokument.php?lang=slv&id=131033 Fakulteta za elektrotehniko 0 0 0