Control algorithm design for robotic arm visual servoing in ROS 2

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dc.contributor.advisorTFEAndueza Unanua, Ángel María
dc.contributor.affiliationEscuela Técnica Superior de Ingeniería Industrial, Informática y de Telecomunicaciónes_ES
dc.contributor.affiliationIndustria, Informatika eta Telekomunikazio Ingeniaritzako Goi Mailako Eskola Teknikoaeu
dc.contributor.authorZabalza Oroz, Daniel
dc.date.accessioned2024-09-27T16:38:39Z
dc.date.available2024-09-27T16:38:39Z
dc.date.issued2024
dc.date.updated2024-09-27T12:02:08Z
dc.description.abstractThis bachelor thesis focuses on the development and implementation of an image-based visual servoing algorithm for a 4 DOF desktop robotic manipulator. Designed to operate over objects positioned on a 2D plane, the system uses an eye-in-hand configuration to capture real-time image data that guides the robot's movements. An object detection model identifies and locates objects within the workspace, enabling the controller to generate precise commands for the manipulator’s actions. The entire system is developed and integrated using ROS2, providing a modular and flexible framework for robotic control. By combining precise object detection with visual servoing control theory, this project demonstrates a robust and efficient approach to autonomous object manipulation, showcasing the potential of vision-based control systems in the field of intelligent robotics.en
dc.description.degreeGraduado o Graduada en Ingeniería en Tecnologías Industriales por la Universidad Pública de Navarra (Programa Internacional)es_ES
dc.description.degreeIndustria Teknologietako Ingeniaritzan Graduatua Nafarroako Unibertsitate Publikoan (Nazioarteko Programa)eu
dc.format.mimetypeapplication/pdfen
dc.identifier.urihttps://academica-e.unavarra.es/handle/2454/51855
dc.language.isoeng
dc.rights.accessRightsinfo:eu-repo/semantics/openAccess
dc.subjectRoboten
dc.subjectManipulatoren
dc.subjectVisual Servoingen
dc.subjectObject detectionen
dc.subjectYOLOen
dc.subjectArtificial intelligenceen
dc.subjectROS2en
dc.subjectKinematicsen
dc.subjectJacobian matrixen
dc.subjectImage Jacobianen
dc.titleControl algorithm design for robotic arm visual servoing in ROS 2en
dc.typeinfo:eu-repo/semantics/bachelorThesis
dspace.entity.typePublication
relation.isAdvisorTFEOfPublication3b717a79-0077-4723-bc96-50a948ac047f
relation.isAdvisorTFEOfPublication.latestForDiscovery3b717a79-0077-4723-bc96-50a948ac047f

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