Computer simulation of an automated robot grasping with object pose estimation : Software frameworks that are suitable to build a reliable computer simulation
Panasiuk, Dmitrii (2021)
Panasiuk, Dmitrii
2021
Bachelor's Programme in Science and Engineering
Tekniikan ja luonnontieteiden tiedekunta - Faculty of Engineering and Natural Sciences
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Hyväksymispäivämäärä
2021-04-26
Julkaisun pysyvä osoite on
https://urn.fi/URN:NBN:fi:tuni-202104263678
https://urn.fi/URN:NBN:fi:tuni-202104263678
Tiivistelmä
This Bachelor thesis paper presents the results of a research exploring which software frameworks are required in order to create a reliable computer simulation of automated robot grasping. First, automated grasping was defined and broken into components. Then for each stage of the process a corresponding framework was studied. The research also covered how object pose estimation or grasp evaluation can be performed with a neural network, which possible solutions exist and how it has to be configured. The research was done by the means of setting up example simulations on the personal machine. The result of the work is a comprehensive analysis of all software frameworks that are required for creating a simulation of the automated grasping with case example simulations that are explained within the thesis paper.
Kokoelmat
- Kandidaatintutkielmat [7072]