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Integracija industrijskega robota z odprtokodno programsko opremo ROS-Industrial
ID Razingar, Matej (Author), ID Vrabič, Rok (Mentor) More about this mentor... This link opens in a new window

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Abstract
Industrijski roboti so v svojem življenjskem ciklu običajno prilagojeni eni nalogi, kjer proizvajalec zagotovi določeno senzoriko in programsko okolje, v katerem je robota možno programirati. Problem pa nastane, če robota želimo uporabiti za napredno aplikacijo, za katero ni bil prvotno namenjen in kjer je potrebna druga senzorika. ROS (ang. \textit{Robot operating system}) platforma nam omogoča enostaven priklop senzorjev na osebni računalnik in razvoj aplikacije v programskih jezikih C++ ali Python. S pomočjo osebnega računalnika lahko razvijemo napredne aplikacije, kjer je delovanje robota prilagojeno okolju, ki ga v realnem času zaznava s senzorji. V delu je obravnavano kreiranje modela robota, kompatibilnega z ROS platformo in postopek priključitve in umerjanja dodatne kamere. Razvit je bil algoritem za obdelavo slike iz kamere, ki v realnem času zaznava pozicijo lukenj in objektov. Ovrednoteni so bili različni planerji poti znotraj ROS. Prikazan je razvoj ROS storitve za upravljanje z digitalnimi vhodi / izhodi robota, ki omogoča upravljanje s prijemalom robota. Razvita je bila aplikacija primi - položi, ki s pomočjo slike iz kamere uspešno zazna objekte in luknje, robot pa glede na glede na zaznane lokacije prelaga objekte med prostimi luknjami.

Language:Slovenian
Keywords:industrijska robotika, računalniški vid, planiranje gibanja, primi-položi, robotski operacijski sistem (ROS), Moveit
Work type:Master's thesis/paper
Typology:2.09 - Master's Thesis
Organization:FS - Faculty of Mechanical Engineering
Place of publishing:Ljubljana
Publisher:[M. Razingar]
Year:2020
Number of pages:XXII, 56 str.
PID:20.500.12556/RUL-118608 This link opens in a new window
UDC:007.52:681.5:004.896(043.2)
COBISS.SI-ID:28776451 This link opens in a new window
Publication date in RUL:28.08.2020
Views:806
Downloads:155
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Secondary language

Language:English
Title:Integration of industrial robot with opensource software ROS-Industrial
Abstract:
Usually, industrial robots are dedicated to one task during their lifecycle, where manufacturer provides certain sensorics and software environment, where a robot can be programed. The problem arises when we want to use a robot for advanced aplication where additional sensorics is required. ROS platform enables us to plug sensors to personal computer and to program the robot in programming languages C++ or Python. With the help of ROS personal computer advanced applications can be developed. These applications include real-time adjusting of the robot to the environment with the help of sensors. In this thesis, model of ROS (Robot operating system) compatible robot was created. The process of connecting and calibration of additional camera is presented. Computer vision algorithm for hole and object detection was developed. Different planners available on ROS platform are evaluated. ROS service to control digital outputs/inputs, which enables us to control the gripper was developed. Finally, pick and place application was developed. Pick and place application uses successfully detected objects and holes from the camera for picking the objects and placing them in the free holes.

Keywords:industrial robotics, computer vision, path planning, pick and place, ROS, Moveit

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