Adaptable control of virtual robot in Unity for a wall painting task

Robotika je široko područje na granici strojarstva i računarstva. Proučili smo osnovne pojmove robotike, tri algoritma inverzne kinematike i problem planiranja putanje alata. Implementacija robota za premazivanje zidova ostvarena je u programskom sustavu Unity i sadrži implementaciju algoritma cikličkog koordinatnog spusta za rješavanje problema inverzne kinematike, generiranje zidova korištenjem funkcije Perlinovog šuma, bojanje zidova manipulacijom tekstura trodimenzionalnog objekta i algoritam za planiranje putanje alata s održavanjem udaljenosti od zidova. Rezultat je implementacija koja može efikasno premazati cjelokupnu prostoriju s izobličenim zidovima.Robotics is a wide scientific area on the border of mechanical engineering and computing. We studied the basic concepts of robotics, three algorithms of inverse kinematics and the tool oath planing problem. The implementation of the wall painting robot was realisedin the Unity game engine and includes the implementation of a cyclic coordinate descent algorithm to solve the problem of inverse kinematics, a wall generation algorithm using the Perlin noise function, painting wall by manipulating a three-dimensional objects texture and a tool path planing algorithm whitch maintains the distance between the tool and the wall. The resulting implementation can effectively paint an entire room with distorted walls