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master's thesis
Izrada sustava upravljanja robotske ruke za opsluživanje cnc glodalice
2022. urn:nbn:hr:190:510838
Sladonja, Ivan
University of Rijeka
Faculty of Engineering
Department of Mechanical Engineering Design

Cite this document

Sladonja, I. (2022). Izrada sustava upravljanja robotske ruke za opsluživanje cnc glodalice (Master's thesis). Rijeka: University of Rijeka, Faculty of Engineering. Retrieved from https://urn.nsk.hr/urn:nbn:hr:190:510838

Sladonja, Ivan. "Izrada sustava upravljanja robotske ruke za opsluživanje cnc glodalice." Master's thesis, University of Rijeka, Faculty of Engineering, 2022. https://urn.nsk.hr/urn:nbn:hr:190:510838

Sladonja, Ivan. "Izrada sustava upravljanja robotske ruke za opsluživanje cnc glodalice." Master's thesis, University of Rijeka, Faculty of Engineering, 2022. https://urn.nsk.hr/urn:nbn:hr:190:510838

Sladonja, I. (2022). 'Izrada sustava upravljanja robotske ruke za opsluživanje cnc glodalice', Master's thesis, University of Rijeka, Faculty of Engineering, accessed 17 December 2024, https://urn.nsk.hr/urn:nbn:hr:190:510838

Sladonja I. Izrada sustava upravljanja robotske ruke za opsluživanje cnc glodalice [Master's thesis]. Rijeka: University of Rijeka, Faculty of Engineering; 2022 [cited 2024 December 17] Available at: https://urn.nsk.hr/urn:nbn:hr:190:510838

I. Sladonja, "Izrada sustava upravljanja robotske ruke za opsluživanje cnc glodalice", Master's thesis, University of Rijeka, Faculty of Engineering, Rijeka, 2022. Available at: https://urn.nsk.hr/urn:nbn:hr:190:510838

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Metadata
TitleIzrada sustava upravljanja robotske ruke za opsluživanje cnc glodalice
Title (english)Development of robotic arm control system for CNC milling mashine feeding
AuthorIvan Sladonja
MentorKristina Marković (mentor)
MentorZoran Jurković (komentor)
Committee memberNeven Lovrin (predsjednik povjerenstva)
Committee memberKristina Marković (član povjerenstva)
Committee memberSunčana Smokvina Hanza (član povjerenstva)
Committee memberŽeljko Vrcan (član povjerenstva)
GranterUniversity of Rijeka
Faculty of Engineering
(Department of Mechanical Engineering Design)
Rijeka
Defense date and country2022, Croatia
Scientific / art field,
discipline and subdiscipline		TECHNICAL SCIENCES
Mechanical Engineering
General Mechanical Engineering (Construction)
Abstract
U ovom je radu opisana procedura prilagodbe ROS-a u svrhu upravljanja robotskom rukom BCN3D MOVEO Rad je podijeljen u šest poglavlja. U uvodnom poglavlju se govori o potrebi za razvojem industrijske robotike i o potencijalu ROS-a za primjenu u industrijskoj robotici. U drugom se dijelu opisuje povijest ROS-a, njegova struktura, prednosti i nedostaci. Također su opisani glavni alati ROS-a korišteni u svrhu ovog rada. U trećem se poglavlju opisuje korištena robotska ruka, 3D printanje njenih komponenata, način spajanja aktuatorskih komponenata te analiza naprezanja i deformacije. U četvrtom je poglavlju izračunata kinematika robotske ruke dok se u petom poglavlju detaljno opisuje postupak implementacije ROS okvira za upravljanje robotskom rukom.
Abstract (english)
This thesis describes the ROS adaptation procedure for the purpose of controlling the BCN3D MOVEO robotic arm. The thesis is divided into six sections. The introductory section describes the need for the development of industrial robots and the potential of ROS for application in industrial robotics. The second part describes the history of ROS, its structure, advantages and disadvantages. The main ROS tools used for the purpose of this thesis are also described. The third section describes the robotic arm, 3D printing of its components, the method of connecting the actuator components, and stress and deformation analysis. In the fourth section the kinematics of the robotic arm is calculated, while in the fifth chapter, the implementation procedure of the ROS framework for controlling the robotic arm is described in detail.
Keywords
Keywords (english)
Languagecroatian
URN:NBNurn:nbn:hr:190:510838
Study programmeTitle: Mechanical Engineering
Study programme type: university
Study level: graduate
Academic / professional title: magistar/magistra inženjer/inženjerka strojarstva (magistar/magistra inženjer/inženjerka strojarstva)
Type of resourceText
File originBorn digital
Access conditionsOpen access
Terms of useLicence Attribution 4.0 International (CC BY 4.0) icon
Created on2022-07-17 20:53:08