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1.
Manipulability of a haptic mechanism within the cylindrical space of an MR scanner
Matej Rajh, Srečko Glodež, Jože Flašker, Karl Gotlih, 2012, original scientific article

Abstract: The aim of this paper is to present developed 3 DOF haptic mechanism and 3D visualization method for analysis of mechanism manipulability problems within limited space. Improvement in mechanism manipulability within cylindrical space is crucial for devices, which operate in MR tunnel. This solution enables the plotting of quantitative 3D representation for each point in the mechanism's workspace, using selected resolution which can be determined in advance. The cross-section between the limited space and the whole arbitrary workspace shows the ability for movement execution.
Keywords: gibljivost, Jacobijeva matrika, delovni prostor, haptični mehanizem, MR-združljivost, omejen prostor, manipulability, Jacobian matrix, workspace, haptic mechanism, MR compatibility, limited workspace
Published: 10.07.2015; Views: 730; Downloads: 74
URL Link to full text

2.
OBČUTLJIVOST KRITERIJEV GIBLJIVOSTI ROBOTOV V OKOLICI SINGULARNIH TOČK
Matej Zadravec, 2010, bachelor thesis/paper

Abstract: V diplomski nalogi je predstavljen izračun direktnega in inverznega kinematičnega modela robotskega mehanizma s tremi prostostnimi stopnjami. Izvedena je analiza indeksa gibljivosti in singularnih vrednosti Jacobijeve matrike. Vsi izračuni, ki so zajeti v diplomskem delu, so bili najprej simbolično izračunani s pomočjo programskega orodja Mathematica, kasneje pa je verodostojnost teh izračunov preverjena še v programskem orodju Matlab, v katerem so tudi prikazani grafični rezultati izračunov. Rezultat diplomskega dela je ocena kriterija gibljivosti robotov v okolici singularne točke.
Keywords: robotika, direktni in inverzni kinematični model, Jacobijeva matrika, indeks gibljivosti, hitrostni elipsoid, kinematična singularnost
Published: 14.01.2011; Views: 2287; Downloads: 142
.pdf Full text (2,23 MB)

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