Vodenje avtonomnega mobilnega robota z nameščenim sodelujočim robotom

JERIĆEVIĆ, JAN (avtor), Podobnik, Janez (mentor)

Magistrsko delo predstavlja zasnovo, razvoj in implementacijo sistema vodenja avtonomnega mobilnega robota z nameščenim sodelujočim robotskim manipulatorjem. V delu skozi integracijo mobilne platforme MiR100 z manipulatorjem UR5e in prijemalom Robotiq, izpostavljamo potencial mobilne manipulacije za izboljšanje avtomatizacije v različnih industrijskih panogah. V magistrskem delo predstavimo pregled koncepta mobilnih manipulatorjev, ki združujejo mobilnost z naprednimi manipulacijskimi sposobnostmi, kar bistveno razširi delovni prostor manipulatorja. Podrobno proučimo zmogljivosti industrijskega vmesnika mobilne platforme MiR100 in njenega varnostnega sistema. Glavni del raziskave je bil namenjen razvoju sistema vodenja z uporabo robotskega operacijskega sistema (ROS), ki je omogočil brezhibno komunikacijo in koordinacijo med mobilno platformo in manipulatorjem, in s tem avtonomno izvajanje kompleksnih nalog. Izvedli smo eksperimente za oceno zmogljivosti razvitega sistema. Ti eksperimenti so se osredotočili na ključne lastnosti robotske celice -- validacijo varnostnega sistema mobilne platforme in ponovljivost mobilnega manipulatorja. Ugotovitve teh eksperimentov smo uporabili pri zasnovi praktičnih aplikacij natančnega sestavljanja mehanskih komponent in transporta materialov v simuliranem industrijskem okolju. Aplikaciji sta demonstrirali uporabnost in zanesljivost mobilnega manipulatorja pri avtonomnem izvajanju kompleksnih nalog. Predstavljeno delo dopolnjujejo podrobna spletna navodila za uporabo mobilnega manipulatorja. Navodila so namenjena pomoči bodočim uporabnikov pri konfiguraciji robotske celice in uporabi razvitega sistema vodenja. Magistrska naloga prikazuje, kako lahko integracija mobilnih platform in sodelujočih robotov izboljša avtomatizacijo in omogoči učinkovitejše in prilagodljivejše procese, medtem ko lahko razvita robotska celica in njen sistem vodenja služita kot osnova za prihodnje raziskave.

• Jezik: Slovenski jezik
• Ključne besede: mobilni manipulator, robotski operacijski sistem (ROS), mobilna robotika, sodelujoča robotika
• Vrsta gradiva: Magistrsko delo/naloga
• Organizacija: FE - Fakulteta za elektrotehniko
• Leto izida: 2024
• PID: 20.500.12556/RUL-160514
• Datum objave v RUL: 29.08.2024

Sekundarni jezik

• Jezik: Angleški jezik
• Naslov: Control of an Autonomous Mobile Robot with a Collaborative Manipulator

Izvleček

This master’s thesis presents the design, development, and implementation of a control system for an autonomous mobile robot equipped with a collaborative robotic manipulator. It focuses on integrating the MiR100 mobile platform with the UR5e manipulator and Robotiq gripper, emphasizing the potential for enhancing automation across various industries through mobile manipulation. It presents an overview of the concept of mobile manipulators, which combine mobility with advanced manipulation capabilities, thereby significantly expanding the workspace of the manipulator. This is followed by a thorough investigation into the capabilities of the industrial interface of the MiR100 mobile platform and its safety system. A significant portion of the research involved the development of a control system using the Robot Operating System (ROS), which facilitated seamless communication and coordination between the mobile platform and the manipulator, allowing for the autonomous execution of complex tasks. Experiments were conducted to evaluate the capabilities of the developed system. These experiments focused on key aspects of the robotic cell -- the validation of the mobile platform's safety system and the repeatability of the mobile manipulator. The findings from these experiments were then used to design practical applications, demonstrating the robot cell's potential through the precise assembly of mechanical components and the transportation of materials within a simulated industrial environment. The applications demonstrated the mobile manipulator's reliability in executing complex tasks autonomously. The outcomes of this research are supplemented by detailed online manuals aimed at guiding future users in deploying and utilizing the robotic cell. These manuals provide step-by-step instructions, ensuring that the system’s advanced capabilities are accessible to operators with varying levels of expertise. Overall, this thesis demonstrates how the integration of mobile platforms and collaborative robots can significantly enhance automation, making processes more efficient and flexible, while the developed robot cell and its control system can serve as a basis for future research.

• Ključne besede: mobile manipulator, robot operating system (ROS), mobile robotics, collaborative robotics