20.500.12556/RUL-188398 Robotska sodelovalna aplikacija za igranje šaha Collaborative robot chess application V magistrskem delu obravnavamo razvoj robotske sodelovalne aplikacije za igranje šaha, ki uporabniku omogoča, da fizično partijo odigra proti robotskemu manipulatorju. Ker sodobni šahovski programi igrajo optimalno in ne posnemajo človeka, smo poleg klasičnega programa razvili tudi personaliziran model umetne inteligence, ki posnema igralni slog izbranega velemojstra. Zasnovali in izdelali smo robotsko celico, ki jo sestavljajo sodelujoči robot UFactory xArm6 z električnim prijemalom Gimatic in mehkimi prsti, izdelanimi po principu fin-ray, elektronska šahovnica in šahovska ura DGT, vrtljivi gumb DragonEYE ter mikroračunalnik Raspberry Pi 5 kot osrednji koordinator. Programsko opremo smo zasnovali večnitno. Uporabnikove poteze sistem razpozna tako, da stanje fizične šahovnice primerja z vsemi zakonitimi potezami iz prejšnje pozicije. Uporabnik lahko igra proti klasičnemu programu Stockfish ali proti personaliziranemu modelu VidmarAI, ki smo ga razvili iz projekta Maia Chess z učenjem s prenosom znanja na partijah velemojstra Milana Vidmarja in ga poganja šahovski program Leela Chess Zero. Varnost celice smo ovrednotili po standardu ISO 10218-2:2025 za tri scenarije trka med robotom in uporabnikom. Model VidmarAI je na validacijski množici Vidmarjevih partij dosegel višjo natančnost napovedi potez od osnovnega modela Maia-1900, navzkrižno ocenjevanje pa je potrdilo, da je izboljšanje specifično za Vidmarjev slog. Varnostne meritve so pokazale, da mehki prsti z večjo kontaktno površino zadržijo sile in tlake znotraj mej standarda. Razvita aplikacija je celovit primer sodelovalne robotike, ki povezuje mehansko, elektronsko, programsko in umetnointeligenčno komponento v interaktiven sistem. This master's thesis addresses the development of a collaborative robotic application for playing chess, which enables the user to play a physical game against a robotic manipulator. Since modern chess engines play optimally and do not imitate humans, in addition to a classical chess engine we also developed a personalized artificial intelligence model that imitates the playing style of a selected grandmaster. We designed and built a robotic cell that comprises the collaborative robot UFactory xArm6 with a Gimatic electric gripper and soft fingers made according to the fin-ray principle, a DGT electronic chessboard and chess clock, the DragonEYE rotary knob, and a Raspberry Pi 5 microcomputer as the central coordinator. We designed the software as multithreaded. The system recognizes the user's moves by comparing the state of the physical board with all legal moves from the previous position. The user can play against the classical chess engine Stockfish or against the personalized model VidmarAI, which we developed from the Maia Chess project through transfer learning on the games of grandmaster Milan Vidmar and which runs on the Leela Chess Zero engine. We evaluated the cell's safety according to the ISO 10218-2:2025 standard for three collision scenarios between the robot and the user. On a held-out set of Vidmar's games, the VidmarAI model achieved a higher move-prediction accuracy than the base Maia-1900 model, and cross-evaluation confirmed that the improvement is specific to Vidmar's style. The safety measurements showed that soft fingers with a larger contact area keep forces and pressures within the limits specified by the standard. The developed application is a comprehensive example of collaborative robotics that integrates mechanical, electronic, software, and artificial intelligence components into an interactive system. sodelujoča robotika robotsko igranje šaha sodelujoči robot senzorizirana šahovnica grafični uporabniški vmesnik personaliziran model umetne inteligence učenje s prenosom znanja analiza varnosti collaborative robotics robotic chess playing collaborative robot personalized artificial-intelligence model sensorized chessboard graphical user interface transfer learning safety analysis true false false Slovenski jezik Angleški jezik Magistrsko delo/naloga 2026-09-22 13:55:01 2026-09-22 13:55:09 2026-10-30 09:22:11 0000-00-00 00:00:00 2026 0 0 0000-00-00 NiDoloceno NiDoloceno NiDoloceno 0000-00-00 0000-00-00 0000-00-00 63471 303184131 Reshkov_Ivan_-_Robotska_sodelovalna_aplikacija_za_igranje_saha.pdf Reshkov_Ivan_-_Robotska_sodelovalna_aplikacija_za_igranje_saha.pdf 1 9B00BF04C2736D2EDE74D30A781747DD 2514ebd6f7dfb5aed8b0ac00bdf3940c6be812531fdc874e0dfa6f9e918a1534 66713c38-b67c-11f1-8bc5-0050569b8976 https://repozitorij.uni-lj.si/Dokument.php?lang=slv&id=248546 Fakulteta za elektrotehniko 0 0 0