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Ljudi su od davnina pokušavali olakšati poslove koje su morali obavljati. Od 20. stoljeća robotski manipulatori obavljaju zadatke fizički prezahtjevne za čovjeka. Industrijski roboti doveli su nas do pametnih robota treće generacije koji imaju sposobnost učenja iz svojih pogrešaka. Time je inspiriran krajnji proizvod ovoga rada, dvostruki manipulator, koji u suradnji s bespilotnom letjelicom može odvrnuti vijak. Kako bi to bilo moguće bilo je potrebno razriješiti jednadžbe direktne i inverzne kinematike te ih implementirati u Robotskom Operacijskom Sustavu (ROS). Since ancient times people were trying to make their jobs easier. In 20th century robotic manipulators started to perform tasks which human beings were unable to do. So called industrial robots were the big step forward to 3rd generation of robots which are intelligent and can learn from their mistakes. Inspired by that the product of this thesis is dual-arm manipulator which can remove the screw in collaboration with unmanned aerial vehicle (UAV). To make that happen it was necessary to solve forward and inverse kinematics problem for given manipulator and implement it in Robot Operating System (ROS). |
