Javascript must be enabled for the correct page display

Design of an application that will control a robotic arm autonomously with as input: AR-tags seen by an 3D camera.

de Vent M.J., (2017) Design of an application that will control a robotic arm autonomously with as input: AR-tags seen by an 3D camera. Bachelor's Thesis, Industrial Engineering and Management.

[img] Text
Bachelor_IEM_2017_Melle_de_Vent.pdf - Published Version
Restricted to RUG campus only

Download (3MB)
[img] Text
Toestemming.pdf - Other
Restricted to Backend only

Download (72kB)

Abstract

This research presents a way of autonomous “pick and place” with a Smart Robotic Arm and a Window Kinect camera. This investigation is part of a larger research that incorporates a fully autonomous carrier in production faculties. This thesis provides a design of a ROS-program that uses data provided by a 3D camera and converts this data into useful commands to control the robotic arm. The designed Python script can “pick and place” autonomously, with only the input of AR-tags. The main part of the research is converting the vectors calculated by a 3D camera application, towards joint angles for the robotic motors. Another important part of the research is the design of a program that corresponds with the wishes of the user: a design that connects to the larger whole. This thesis provides a full image of the design process. Each design issue is introduced, its relevance is explained, the mathematical models are provided and thereafter the ROS scripts are given. The systematic approach of answering all the different design issues before trying to make a comprehensive script, results in a design that is perfectly focused on the requirements of the stakeholders.

Item Type: Thesis (Bachelor's Thesis)
Degree programme: Industrial Engineering and Management
Thesis type: Bachelor's Thesis
Language: English
Date Deposited: 15 Feb 2018 08:27
Last Modified: 15 Feb 2018 08:27
URI: http://fse.studenttheses.ub.rug.nl/id/eprint/14940

Actions (login required)

View Item View Item