20.500.12556/RUL-187019 Potiskanje objektov z robotom Pushing objects by robot V zadnjih letih je uporaba robotov v industriji zelo narasla. Roboti so hitrejši, natančnejši in močnejši od ljudi, poleg tega pa lahko delajo neprekinjeno. Toda v nekaterih primerih manipulacije z objekti smo ljudje boljši od robotov. Primer take manipulacije je potiskanje objektov. Ljudje to delamo skoraj podzavestno, ampak med potiskanjem ves čas opazujemo objekt in delamo majhne popravke glede sile in smeri potiskanja, da lahko objekt premaknemo na želeno mesto. Roboti seveda nimajo takih čutil, zato je pri potiskanju objektov z robotom potrebno iskati drugačne rešitve. V diplomski nalogi je opisano kako lahko ta problem rešimo z uporabo zaprte zanke. Z uporabo kamere in robota smo razvili algoritem, ki vodi robota tako, da ta potisne objekt do cilja. Skozi poglavja je opisano vse od komunikacije z robotom do obdelave slik ter problemov, ki so se pojavili med razvojem algoritma. Na koncu je bilo izvedenih tudi nekaj preizkusov, s katerimi smo preverili uspešnost in natančnost potiskanja. The use of robots in industrial applications has increased significantly in recent years. Robots are faster, more precise, and stronger than humans, and they are capable of operating continuously without interruption. Nevertheless, humans still outperform robots in certain object manipulation tasks. One such task is object pushing. Humans perform this task almost intuitively by continuously observing the object and making small adjustments to the applied force and pushing direction, allowing the object to be moved accurately to the desired location. Since robots do not possess such sensory capabilities, alternative methods must be developed to enable reliable object pushing. This bachelor's thesis presents a solution to this problem based on closed-loop control. By integrating a camera with a robotic manipulator, an algorithm was developed to guide the robot in pushing an object to a predefined target location. The thesis describes the complete development process, including communication with the robot, image acquisition and processing, and the challenges encountered during the development of the control algorithm. Finally, a series of experiments was conducted to evaluate the effectiveness and positioning accuracy of the proposed object-pushing approach. robotika potiskanje objektov računalniški vid obdelava slik zaprtozančno vodenje robotics object pushing computer vision image processing closed-loop control true false false Slovenski jezik Angleški jezik Diplomsko delo/naloga 2026-09-08 11:25:00 2026-09-08 11:25:09 2026-09-15 11:29:13 0000-00-00 00:00:00 2026 0 0 0000-00-00 NiDoloceno NiDoloceno NiDoloceno 0000-00-00 0000-00-00 0000-00-00 62863 291128579 Korosec_Luka_-_Potiskanje_objektov_z_robotom.pdf Korosec_Luka_-_Potiskanje_objektov_z_robotom.pdf 1 355CD60BD93CE9AA00EDF9778844801F 1707ccf5c26fde130b612e0207cd86c32575b915899eca654e83f0a874049d8c 2bef8353-ab67-11f1-8bc5-0050569b8976 https://repozitorij.uni-lj.si/Dokument.php?lang=slv&id=246448 Fakulteta za elektrotehniko 0 0 0