Thesis Details

Kalibrace robotického pracoviště

Master's Thesis Student: Uhlíř Jan Academic Year: 2018/2019 Supervisor: Kapinus Michal, Ing.
English title
Calibration of Robotic Workspace
Language
Czech
Abstract

This work is concerned by the issue of calibrating a robotic workplace, including the localization of a calibration object for the purpose of calibrating a 2D or 3D camera, a robotic arm and a scene of robotic workplace. At first, the problems related to the calibration of the aforementioned elements were studied. Further, an analysis of suitable methods for performing these calibrations was performed. The result of this work is application of ROS robotic system providing methods for three different types of calibration programs, whose functionality is experimentally verified at the end of this work.

Keywords

calibration, mechanical calibration, camera calibration, robotic workspace, robotic manipulator, robotics, ROS, ROS-Indrustrial, MoveIt!, tf, OpenCV, ArUco, ARCOR, Template matching, ICP, PCL, point cloud

Department
Department of Computer Graphics and Multimedia FIT BUT
Degree Programme
Information Technology, Field of Study Information Systems
Files
Status
defended, grade C
Date
14 June 2019
Reviewer
Veľas Martin, Ing., Ph.D.
Committee
Kolář Dušan, doc. Dr. Ing. (DIFS FIT BUT), předseda
Bartík Vladimír, Ing., Ph.D. (DIFS FIT BUT), člen
Burget Radek, doc. Ing., Ph.D. (DIFS FIT BUT), člen
Meduna Alexander, prof. RNDr., CSc. (DIFS FIT BUT), člen
Smrčka Aleš, Ing., Ph.D. (DITS FIT BUT), člen
Trenz Oldřich, doc. Ing., Ph.D. (Mendelu), člen
Citation
UHLÍŘ, Jan. Kalibrace robotického pracoviště. Brno, 2019. Master's Thesis. Brno University of Technology, Faculty of Information Technology. 2019-06-14. Supervised by Kapinus Michal. Available from: https://www.fit.vut.cz/study/thesis/21997/
BibTeX 
@mastersthesis{FITMT21997,
    author = "Jan Uhl\'{i}\v{r}",
    type = "Master's thesis",
    title = "Kalibrace robotick\'{e}ho pracovi\v{s}t\v{e}",
    school = "Brno University of Technology, Faculty of Information Technology",
    year = 2019,
    location = "Brno, CZ",
    language = "czech",
    url = "https://www.fit.vut.cz/study/thesis/21997/"
}

Theses

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