20.500.12556/RUL-171648 Robotski manipulator kot merilni sistem pri vodenju sklopitve mobilne platforme na priklopno postajo Robotic manipulator as a measuring system in guiding the coupling of a mobile platform to a docking station V tem magistrskem delu predstavljamo robotski sistem, v katerem manipulator na mobilni platformi meri njeno lego, ta povratna informacija pa regulatorju omogoča vodenje platforme pri sklopitvi s priklopno postajo in zagotavlja potrebno visoko natančnost. S tem se izognemo dodatnim senzorjem in hkrati izkoristimo zmogljivosti manipulatorja, ki je na platformo sicer nameščen za opravljanje drugih nalog. V prvem poglavju je podrobno opisan problem sklopitve mobilne platforme s priklopno postajo, predstavljene so tudi trenutne rešitve iz literature. Sledi opredelitev ciljev magistrske naloge. Drugo poglavje predstavi uporabljene komponente robotskega sistema, opiše njihove ključne lastnosti in pojasni njihov prispevek k delovanju vodenja. Tretje poglavje opisuje uporabljena programska orodja za vodenje in simulacijo robotskega sistema. V četrtem poglavju je podrobno predstavljeno delovanje kamere in algoritmi, ki so bili uporabljeni za njeno kalibracijo ter določitev lege glede na priključek na priklopni postaji. Prvi algoritem določi lego na podlagi ob priključku pritrjenih optičnih markerjev, drugi pa jo določi neposredno z uporabo nevronske mreže. Peto poglavje opisuje vodenje mobilne platforme in priklopne postaje v različnih fazah pred sklopitvijo s priklopno postajo. V zadnjem, šestem poglavju, najprej obravnavamo negotovost določitve lege kamere, pri čemer obravnavamo dve različni metodi. Nadaljujemo z določitvijo zanesljivosti sklopitve manipulatorja s priključkom na priklopni postaji. Sledi ugotavljanje zanesljivosti sklopitve mobilne platforme s priklopno postajo. Na koncu poglavja komentiramo prednosti in pomanjkljivosti robotskega sistema ter predstavimo možnosti za izboljšavo. This master’s thesis presents a robotic system in which a manipulator mounted on a mobile platform acts as a measuring device for the platform’s pose. The pose information is fed back to the controller, enabling high-precision guidance of the platform during docking with a docking station and eliminating the need for additional sensors while exploiting the manipulator’s capabilities, otherwise intended for other tasks. Chapter 1 details the docking problem of a mobile platform with a docking station and reviews current solutions in the literature, followed by the thesis objectives. Chapter 2 introduces the hardware components of the robotic system, outlines their key characteristics, and explains their contribution to the control architecture. Chapter 3 describes the software tools used for control and simulation of the robotic system. Chapter 4 explains the camera operation and the algorithms employed for its calibration and for determining its pose relative to the connector on the charging station. The first algorithm relies on optical markers attached near the connector, whereas the second estimates the pose directly with a neural-network–based detector. Chapter 5 describes the control strategy for the mobile platform in the various phases before docking with the docking station. In the final Chapter 6 we first analyse the pose-estimation uncertainty of the different vision methods, then evaluate the reliability of manipulator docking with the station’s connector, followed by the overall reliability of platform docking. The chapter concludes with a discussion of the advantages and limitations of the proposed robotic system and suggests directions for future improvements. avtonomna sklopitev mobilna platforma diferencialni pogon robotski manipulator impedančno vodenje robotski vid kinematika autonomous docking mobile platform differential drive robotic manipulator impedance control robotic vision kinematics true false false Slovenski jezik Angleški jezik Magistrsko delo/naloga 2025-08-29 10:40:09 2025-08-29 10:40:15 2025-11-11 09:23:20 0000-00-00 00:00:00 2025 0 0 0000-00-00 NiDoloceno NiDoloceno NiDoloceno 0000-00-00 0000-00-00 0000-00-00 63076 256658179 Baras_Bostjan_-_Robotski_manipulator_kot_merilni_sistem_pri_vodenju_sklopitve_mobilne_platforme_.pdf Baras_Bostjan_-_Robotski_manipulator_kot_merilni_sistem_pri_vodenju_sklopitve_mobilne_platforme_.pdf 1 3BD29BB8FFF409F792B2E0E576B83FD9 20814f0b119196294b7cd9e5fb19073206a695abf314433ac7da6cfa92f26b5f a907e5a9-84b3-11f0-9328-0050569b8976 https://repozitorij.uni-lj.si/Dokument.php?lang=slv&id=215029 Fakulteta za elektrotehniko 0 0 0