Dec 15, 2019   11:54 a.m. Ivica
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Ing. Jana Paulusová, PhD.
Identification number: 4953
University e-mail: jana.paulusova [at] stuba.sk
 
Odborná asistentka CSc.,PhD. - Institute of Robotics and Cybernetics (FEEIT)

Contacts     Graduate     Lesson     Final thesis     Publications     Supervised theses     

Basic information

Basic information about a final thesis

Type of thesis: Diploma thesis
Thesis title:Navigation of robotic manipulator with vision system in the three-dimensional space
Written by (author): Ing. Vladimír Karel
Department: Institute of Robotics and Cybernetics (FEEIT)
Thesis supervisor: Ing. Jana Paulusová, PhD.
Opponent:prof. Ing. František Duchoň, PhD.
Final thesis progress:Final thesis was successfully defended.


Additional information

Additional information about the final thesis follows. Click on the language link to display the information in the desired language.

Language of final thesis:Slovak

Slovak        English

Title of the thesis:Navigation of robotic manipulator with vision system in the three-dimensional space
Summary:Master thesis is focusing on the navigation of robotic manipulator in the three-dimensional space with use of binocular vision system, which is placed on the flange of the robot. The goal of the thesis is to analyze theoretically and practically the possibilities of pose measuring of pieces in the workspace of robot. The success of all algorithms was tested on the real system with the robot KUKA KR5 arc. The thesis is also aimed at the problem of absolute robot accuracy. As the result of effort to solve this problem, new robot calibration method was developed and tested to improve the absolute robot accuracy. As the demonstration of the theory, the application was created in which robot searches for the pieces of two different types, measures and sorts them.
Key words:Robotic manipulator, 3D Measurement, Binocular vision system

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Parts of thesis with postponed release:

Final thesis (final thesis appendices) unlimited
Reviews for final thesis unlimited