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Title:TOPOLOGIJA DELOVNIH PROSTOROV INDUSTRIJSKIH ROBOTOV
Authors:Zver, Andrejka (Author)
Gotlih, Karl (Mentor) More about this mentor... New window
Šafarič, Riko (Co-mentor)
Files:.pdf MAG_Zver_Andrejka_2013.pdf (7,84 MB)
MD5: F9086F51B2E0873A873B344B8D7F20C7
 
Language:Slovenian
Work type:Master's thesis (m2)
Typology:2.09 - Master's Thesis
Organization:FS - Faculty of Mechanical Engineering
Abstract:Kljub razširjenosti robotskih sistemov v industriji je malo znanega o samem algebraičnem in geometrijskem ozadju, ki nam dejansko definira uporabnost in sposobnost robotskega sistema v dani točki delovnega prostora. S takim znanjem lahko predvidimo obnašanje robota v vsakem položaju delovnega prostora in s tem preprečimo morebitne zaplete. Z namenom priti do teh podatkov je v nalogi delovni prostor industrijskega manipulatorja opisan s pomočjo topologije prostorov, ki nam podaja matematično dogajanje znotraj le-tega. Za lažjo predstavo je delovni prostor robota prikazan s pomočjo nivojskih krivulj, ki nam dajo obris samega prostora, s prerezi po posameznih nivojih pa lahko pogledamo v sam prostor. Izrise in prereze sem izdelala s pomočjo programske opreme Mathematica. Kljub večjemu številu parametrov, ki nam podajajo lastnosti delovnega prostora robota pridemo do ugotovitve, da imajo največji vpliv na tega dejansko dolžine ročic posameznih sklepov. Opis delovnega prostora s topološkimi zakonitostmi vsekakor pripomore k lažjemu razumevanju delovnega procesa robotskega sistema in s tem pomaga pri odpravljanju morebitnih napak pri samem izvajanju želenih nalog robota.
Keywords:robotika, delovni prostor robota, kinematika, topologija
Year of publishing:2013
Publisher:[A. Zver]
Source:Maribor
UDC:[004.869+007.52]:531.7(043)
COBISS_ID:17015574 New window
NUK URN:URN:SI:UM:DK:YV3I6SZN
Views:1622
Downloads:201
Metadata:XML RDF-CHPDL DC-XML DC-RDF
Categories:KTFMB - FS
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Secondary language

Language:English
Title:THE TOPOLOGY OF INDUSTRIAL ROBOT WORKSPACE
Abstract:Despite the prevalence of robotic systems in industry, there is little known about the algebraic and geometric background which actually defines the applicability and capacity of the robotic system at a given point in the workspace. Applying this knowledge can enable us to predict robot behaviour in every position in the workspace and thus prevent potential complications. With the intention of acquiring these data the workspace of the industrial manipulator is described with the help of the topological space that gives us the mathematical occurrence within. In order to visualise it easily, the robot workspace is presented with the help of level curves, which give us the outline of the space, and with the cross-sections at individual levels we can see into the space. The drawings and cross-sections were made by using the software Mathematica. Despite the larger number of parameters, which show us the properties of the workspace, we come to the conclusion that the lever lengths of individual joints have the greatest impact on the workspace. Describing workspace with topological regularities definitely helps us to understand the workspace of the robotic system more easily and thus helps us to avoid potential malfunctions in the execution of the desired robot tasks
Keywords:robotics, robot workspace, kinematics, topology


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