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Prilagajanje trajektorij robota glede na položaj operaterja
ID OKROGLIČ, JURE (Author), ID Mihelj, Matjaž (Mentor) More about this mentor... This link opens in a new window

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Abstract
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.

Language:Slovenian
Keywords:sodelujoči roboti, izogibanje oviram, Leap Motion, Panda Franka Emika
Work type:Bachelor thesis/paper
Organization:FE - Faculty of Electrical Engineering
Year:2020
PID:20.500.12556/RUL-117220 This link opens in a new window
Publication date in RUL:02.07.2020
Views:885
Downloads:250
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Secondary language

Language:English
Title:Modification of robot trajectories based on the position of the operator
Abstract:
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.

Keywords:collaborative robots, obstacle avoidance, Leap Motion, Franka Emika

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