Iskanje po katalogu digitalne knjižnice

Opis: Namen diplomskega dela je bil razviti in narediti robota, ki sam reši rubikovo kocko sestavljeno iz 3×3×3 manjših kock. Le ta je sestavljen iz 6 servo motorčkov, plastičnega ohišja in mikrokrmilnika Raspberry Pi. Robot najprej, preko kamere, zajame sliko in izračuna kombinacijo barv na vseh kvadratih, nato s pomočjo algoritma, imlementiranega v programu, določi zaporedje premikov stranic in le te nato tudi izvede s šestimi servo motorčki. Trenutno vitrualno sliko kocke lahko vidimo v nadzorni plošči, dostopni na izbranem naslovu IP v lokalnem omrežju. Preko nadzorne plošče lahko tudi upravljamo s krmiljenjem algoritma.
Ključne besede: rubikova kocka, algoritem, raspberry Pi, robot
Objavljeno v DKUM: 08.05.2025; Ogledov: 0; Prenosov: 11
Celotno besedilo (3,37 MB)

Opis: Human-robot collaboration (HRC) is becoming increasingly widespread in today's production systems, as it can contribute to achieving more efficient and flexible production systems. Given the growing importance of HRC, this paper addresses the significance of human workload in HRC. To study workers workload an experiment was conducted using NASA-TLX questionnaire. The experiment featured two scenarios involving the same operation but varying robot motion parameters. Recognizing that individual differences contribute to success of collaboration, the experiment considered worker utilization in relation to robot motion parameters. To ensure the credibility of the experimental results, the robot motion parameters were adjusted to each individual in order to achieve the same conditions and utilization at all participants. Results revealed that worker utilization, in conjunction with robot motion parameters significantly influenced worker workload. The results highlight the need for personalized guidelines in collaborative workplaces that emphasize individual differences in abilities, skills and personalities to increase overall well-being and robot and worker productivity.
Ključne besede: human-robot collaboration, industry 5.0, collaborative workplace, NASA-TLX, safety awareness, worker well-being, worker workload
Objavljeno v DKUM: 10.03.2025; Ogledov: 0; Prenosov: 4
Celotno besedilo (615,62 KB)
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Opis: V magistrski nalogi smo raziskali uporabo redundantnih robotskih manipulatorjev za izboljšanje prilagodljivosti in zmogljivosti pri izvajanju nalog v okoljih z ovirami, s poudarkom na robota Franka Emika Panda. Osredotočili smo se na analizo in primerjavo različnih načrtovalnikov poti ter reševalnikov inverzne kinematike, da bi ocenili njihovo učinkovitost pri obvladovanju sklepnih omejitev in izogibanju oviram. Z razvojem aplikacije pobiranja in odlaganja (angl. Pick and place) v okolju ROS in z orodjem Moveit smo demonstrirali, kako redundantnost omogoča izboljšano manevriranje in kompleksne gibe, ki so potrebni za napredne robotske aplikacije. Rezultati kažejo, da je pristop s poudarkom na redundantnosti bistven za doseganje boljših operativnih sposobnosti robota, še posebej v zahtevnih industrijskih okoljih.
Ključne besede: ROS, Moveit, Franka Emika Panda, redundantnost, robot, izogibanje oviram, manipulacija, načrtovanje poti
Objavljeno v DKUM: 20.01.2025; Ogledov: 0; Prenosov: 27
Celotno besedilo (5,10 MB)

Opis: Traditionally, in robotic surface finishing, the entire workpiece is processed at a uniform speed, predetermined by the operator, which does not account for variations in the machinability across different regions of the workpiece. This conventional approach often leads to inefficiencies, especially given the diverse geometrical characteristics of workpieces that could potentially allow for different machining speeds. Our study introduces a region-based approach, which improves surface finishing machining time by allowing variable speeds and directions tailored to each region’s specific characteristics. This method leverages a task-oriented strategy integrating robot kinematics and workpiece surface geometry, subdivided by the clustering algorithm. Subsequently, methods for optimization algorithms were developed to calculate each region’s optimal machining speeds and directions. The efficacy of this approach was validated through numerical results on two distinct workpieces, demonstrating significant improvements in machining times. The region-based approach yielded up to a 37% reduction in machining time compared to traditional single-direction machining. Further enhancements were achieved by optimizing the workpiece positioning, which, in our case, added up to an additional 16% improvement from the initial position. Validation processes were conducted to ensure the collaborative robot’s joint velocities remained within safe operational limits while executing the region-based surface finishing strategy.
Ključne besede: robot surface finishing, collaborative robot, region-based machining, workpiece optimization, clustering, task-oriented machining, machining time optimization
Objavljeno v DKUM: 25.11.2024; Ogledov: 0; Prenosov: 16
Celotno besedilo (20,89 MB)

Opis: Thanks to rapid technological developments in robotics, various automation technologies are being applied in warehouses today. Order picking, as a key process in warehouse operations, has drawn attentioThis paper presents a systematic literature review exploring the impact of human–robot (HR) systems on older workers in manufacturing and logistics industries, drawing insights into how these systems can be optimally designed to address human factors in four key areas—perceptual, physical, cognitive, and psychosocial—aligning with the goals of Industry 5.0. By analyzing 19 articles selected from the Scopus and Web of Science databases, we identified both the benefits and challenges that HR systems pose to the aging workforce. We conclude that to achieve Industry 5.0 goals, HR systems must be designed to balance automation with human skills, promoting adaptability and inclusivity tailored to the diverse responses of older workers.n in academia and practice for decades. In addition to many studies dedicated to manual and fully automated order picking, efforts have also been made to study semi-automated warehouses in which humans and robots collaborate. However, these studies mostly focused on system efficiency and ignored ergonomic aspects. Order picking was confirmed as a labor-intensive process in an environment in which workers are at a high risk of developing health problems. Therefore, this study addresses the investigation of physical human working conditions in both manual and robot-assisted order picking systems via real-life laboratory experiments and simulation modeling. We used a motion capture system to assess human working postures when working with and without robot assistance. In addition, we estimated the daily workload by applying the energy expenditure concept. Using simulation experiments, we were able to extend the results to various practical scenarios with different design variables, for example warehouse layouts, order sizes, and human-robot team configuration. Our preliminary results reveal that human-robot collaboration can reduce human workload. Posture evaluation also shows a slight improvement.
Ključne besede: aging, human–robot systems, manufacturing, logistics, industry 5.0, human-centricity
Objavljeno v DKUM: 21.11.2024; Ogledov: 0; Prenosov: 8
Celotno besedilo (651,28 KB)
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