Inverzna kinematika robotske roke OWI-535

DEBENEC, PRIMOŽ (author), Skočaj, Danijel (mentor)

Glavni namen diplomske naloge je izračun inverzne kinematike za robotsko roko OWI-535. Izračun inverzne kinematike omogoča, da podamo robotski roki lego v tridimenzionalnem prostoru, roka pa bo premaknila vse sklepe na tak način, da se bo vrh robota po premiku nahajal na podani legi. Lega je sestavljena iz pozicije in orientacije, zaradi omejitev roke pa se bomo posvetili predvsem prvi. Narejen je svojevrsten način izračuna inverzne kinematike, ki smo ga najprej teoretično izpeljali, potem pa smo izpeljave prenesli v programsko kodo. Postopek, kako pridemo do rešitve inverzne kinematike, je razdeljen na dva dela. Prvi del je izračun inverzne kinematike, kjer je rezultat množica ustreznih rešitev. Drugi del vsebuje izbor najboljše rešitve iz množice rešitev, ki jo dobimo v prvem delu. Narejena je še nadgradnja, ki zajema tudi orientacijo robotske roke. Robotska roka lahko tako pride do podane točke, obrnjena v predhodno določeni smeri. Programerski del je narejen v programskem jeziku C++, in sicer v ogrodju ROS, ki deluje na operacijskem sistemu Linux. Narejene so bile tudi eksperimentalne meritve, iz katerih je razvidno, kolikšna je dejanska natančnost premikanja robotske roke OWI-535.

• Language: Slovenian
• Keywords: robotika, robotska roka, direktna kinematika, inverzna kinematika, ROS, sklep, segment, Arduino, koordinatni sistem, OWI-535.
• Work type: Bachelor thesis/paper
• Organization: FRI - Faculty of Computer and Information Science
• Year: 2015
• PID: 20.500.12556/RUL-30688
• Publication date in RUL: 02.04.2015

Secondary language

• Language: English
• Title: Inverse kinematics of OWI-535 robotic arm

Abstract

The thesis aims to calculate the inverse kinematics for the OWI-535 robotic arm. The calculation of the inverse kinematics determines the joint parameters that provide the right pose of the end effector. The pose consists of the position and orientation, however, we will focus only on the second one. Due to arm limitations, we have created our own type of the calculation of the inverse kinematics. At first we have derived it only theoretically, and then we have transferred the derivation into the software code. The process, how to calculate the result of the inverse kinematics, is divided into two parts. The first part consists of the calculation of the inverse kinematics, where the result is the set of possible results. The second part includes the selection of the best results from the set of results we have gotten in the first part. We have also made an upgrade that includes the orientation of the robotic arm. The robotic arm can move to the given point, turned to the preselected direction. The programming part is made in the C++ programming language in the ROS framework that is working on the Linux operating system. We have also made some experimental measurements, where we can see the actual movement accuracy of the OWI-535 robotic arm.

• Keywords: robotics, robotic arm, direct kinematics, inverse kinematics, ROS, joint, link, Arduino, coordinate system, OWI-535.