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Title:
Določanje gibanja 6-osnega kolaborativnega robota UR5 za met na koš
Authors:
ID
Picej, Andrej
(
Author
)
ID
Gotlih, Karl
(
Mentor
)
More about this mentor...
ID
Hace, Aleš
(
Mentor
)
More about this mentor...
Files:
UN_Picej_Andrej_2017.pdf
(2,82 MB)
MD5: 224624C23F0420964DF9AF2377DE15FE
PID:
20.500.12556/dkum/c259bb35-5547-45b9-a0c2-7f9d5bb88416
Language:
Slovenian
Work type:
Bachelor thesis/paper
Typology:
2.11 - Undergraduate Thesis
Organization:
FS - Faculty of Mechanical Engineering
Abstract:
V diplomskem delu je obravnavana problematika robotskega meta na koš. Opisani sta dve metodi s katerima lahko določimo gibanje kolaborativnega 6-osnega robota UR5. Predstavljena je analiza poševnega meta in človeškega meta na koš ter posnemanje človeškega giba roke z robotsko roko. Zapisan je tudi kinematični model robota, s pomočjo katerega lahko določimo trajektorijo in gibanje robota med metom na koš. Vsebina zajema delo s posebno knjižnico v programu MATLAB, ki se imenuje RVCtools in zajema orodja s katerimi smo si pomagali pri preračunih.
Keywords:
UR5 robot
,
met na koš
,
načrtovanje trajektorije
,
kinematični model
Place of publishing:
Maribor
Publisher:
[A. Picej]
Year of publishing:
2017
PID:
20.500.12556/DKUM-67853
UDC:
007.52(043.2)
COBISS.SI-ID:
21052182
NUK URN:
URN:SI:UM:DK:UVDBFJWP
Publication date in DKUM:
28.09.2017
Views:
1666
Downloads:
230
Metadata:
Categories:
KTFMB - FS
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Licences
License:
CC BY-NC-ND 4.0, Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International
Link:
http://creativecommons.org/licenses/by-nc-nd/4.0/
Description:
The most restrictive Creative Commons license. This only allows people to download and share the work for no commercial gain and for no other purposes.
Licensing start date:
31.08.2017
Secondary language
Language:
English
Title:
Motion determenation of a 6-axis collaborative robot UR5 for robotic free throw
Abstract:
The university graduation thesis discusses the robotic free throw. Two methods are described to determine movement of the collaborative 6-axis robot UR5. The analyses of free throw and human basketball shot as well as the imitation of human hand motion with robot are shown. The kinematic model of the robot, by means of which trajectory and robot movement during basket shooting can be determined is also written. The thesis also includes simulations with particular toolbox in MATLAB programme, named RVCtools and incorporates tools we helped with during our calculations.
Keywords:
UR5 robot
,
free throw
,
trajectory planning
,
kinematic model
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