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Naslov:Workpiece placement optimization for robot machining based on the evaluation of feasible kinematic directional capabilities
Avtorji:ID Stradovnik, Saša (Avtor)
ID Hace, Aleš (Avtor)
Datoteke:.pdf applsci-14-01531-v2.pdf (5,96 MB)
MD5: E6BB7B3D1AD19198F9CE06B7F58FE791
 
Jezik:Angleški jezik
Vrsta gradiva:Članek v reviji
Tipologija:1.01 - Izvirni znanstveni članek
Organizacija:FERI - Fakulteta za elektrotehniko, računalništvo in informatiko
Opis:Workpiece placement plays a crucial role when performing complex surface machining task robotically. If the feasibility of a robotic task needs to be guaranteed, the maximum available capabilities should be higher than the joint capabilities required for task execution. This can be challenging, especially when performing a complex surface machining task with a collaborative robot, which tend to have lower motion capabilities than conventional industrial robots. Therefore, the kinematic and dynamic capabilities within the robot workspace should be evaluated prior to task execution and optimized considering specific task requirements. In order to estimate maximum directional kinematic capabilities considering the requirements of the surface machining task in a physically consistent and accurate way, the Decomposed Twist Feasibility (DTF) method will be used in this paper. Estimation of the total kinematic performance capabilities can be determined accurately and simply using this method, adjusted specifically for robotic surface machining purposes. In this study, we present the numerical results that prove the effectiveness of the DTF method in identifying the optimal placement of predetermined machining tasks within the robot’s workspace that requires lowest possible joint velocities for task execution. These findings highlight the practicality of the DTF method in enhancing the feasibility of complex robotic surface machining operations.
Ključne besede:workpiece placement optimization, robotic surface machining, feasible kinematic directional capabilities, decomposed twist feasibility (DTF) method, manipulability, non-linear optimization
Status publikacije:Objavljeno
Verzija publikacije:Objavljena publikacija
Poslano v recenzijo:22.01.2024
Datum sprejetja članka:10.02.2024
Datum objave:14.02.2024
Založnik:MDPI
Leto izida:2024
Št. strani:18 str.
Številčenje:Vol. 14, iss. 4, [article no.] 1531
PID:20.500.12556/DKUM-89786 Novo okno
UDK:007.52
COBISS.SI-ID:185701379 Novo okno
DOI:10.3390/app14041531 Novo okno
ISSN pri članku:2076-3417
Avtorske pravice: 2024 by the authors
Datum objave v DKUM:12.08.2024
Število ogledov:64
Število prenosov:25
Metapodatki:XML DC-XML DC-RDF
Področja:Ostalo
:
STRADOVNIK, Saša in HACE, Aleš, 2024, Workpiece placement optimization for robot machining based on the evaluation of feasible kinematic directional capabilities. Applied sciences [na spletu]. 2024. Vol. 14, no. 4,  1531. [Dostopano 13 april 2025]. DOI 10.3390/app14041531. Pridobljeno s: https://dk.um.si/IzpisGradiva.php?lang=slv&id=89786
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Gradivo je del revije

Naslov:Applied sciences
Skrajšan naslov:Appl. sci.
Založnik:MDPI
ISSN:2076-3417
COBISS.SI-ID:522979353 Novo okno

Gradivo je financirano iz projekta

Financer:ARIS - Javna agencija za znanstvenoraziskovalno in inovacijsko dejavnost Republike Slovenije
Številka projekta:P2-0028
Naslov:Mehatronski sistemi

Sekundarni jezik

Jezik:Slovenski jezik
Ključne besede:robotika, optimizacija


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