Robot End Effector Path Planning for Object Surface Finishing Based on 3D Image

U ovom radu je obrađena problematika planiranja putanje vrha alata robotskog manipulatora po površini objekta od interesa pomoću informacija dobivenih 3D kamerom. U svrhu izrade ovog rada izrađen je program unutar ROS(Robot Operating System) okvira koji planira putanju vrha alata industrijskog robota. Unutar ROS okvira također je izrađena procedura za kalibraciju sustava robot-kamera koja omogućuje računanje transformacijskih matrica iz koordinatnog sustava kamere u koordinatni sustav robotskog manipulatora. Planiranje putanje vrha alata i procedura za kalibraciju sustava robot-kamera su izvedeni u C++ programskom, a računanje transformacijskih matrica iz koordinatnog sustava kamere u koordinatni sustav robota je izvedeno u MATLAB programskom jeziku. Točnost izrađenog sustava eksperimentalno je ispitana na industrijskom robotu ABB IRB 2400L .In this thesis path planning along the surface of an object of interest for a robotic manipulator end effector is considered. The object pose is determined using a 3D camera. A software for planning the path of an industrial robot end effector is developed within the ROS framework. Furthermore, a hand-eye calibration procedure, which computes the transformation matrix from the camera coordinate system to the robot coordinate system was implemented. The path planning and hand-eye calibration procedures were created in C++ programming language and the calculation of the transformation matrix from the camera coordinate system to the robot coordinate system was made in MATLAB programming language. The accuracy of the developed system was experimentally tested on the industrial robot ABB IRB 2400L