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Title:DOLOČITEV OPTIMALNEGA DELOVNEGA PROSTORA ROBOTA
Authors:Grabner, Žan (Author)
Gotlih, Karl (Mentor) More about this mentor... New window
Šafarič, Riko (Co-mentor)
Files:.pdf UN_Grabner_Zan_2016.pdf (3,15 MB)
MD5: 64BD2BA753AF87457FA5CB5FA33B4D4E
 
Language:Slovenian
Work type:Undergraduate thesis (m5)
Typology:2.11 - Undergraduate Thesis
Organization:FS - Faculty of Mechanical Engineering
Abstract:V praksi se srečujemo s problemom pravilne postavitve robota za čim boljšo manipulacijo. Delovni prostor je namreč odvisen od same zgradbe robota, zato manipulacijo znotraj tega ni povsod enaka, na nekaterih delih celo ni mogoča. V izogib kasnejšim težavam je potrebno vnaprej predvideti, kje je področje delovnega prostora, v katerem bo gibljivost robota najboljša. Zaradi tega je bil izdelan postopek izračuna in vizualizacije celotnega delovnega prostora in prikaz področij kjer je gibljivost boljša oz. slabša, ter primerjava postopka reševanja z direktno in inverzno kinematiko.
Keywords:delovni prostor robota, določitev, optimizacija, vizualizacija, gibljivost, robotski mehanizem, Denavit-Hartenberg, ACMA, direktna kinematika, inverzna kinematika
Year of publishing:2016
Publisher:[Ž. Grabner]
Source:Maribor
UDC:658.51:007.52(043.2)
COBISS_ID:19557142 New window
NUK URN:URN:SI:UM:DK:9MB7PJHO
Views:1533
Downloads:124
Metadata:XML RDF-CHPDL DC-XML DC-RDF
Categories:KTFMB - FS
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Secondary language

Language:English
Title:OPTIMAL DEFINITION OF THE ROBOT WORK SPACE
Abstract:In praxis we are often confronted with the problem of adequate position of the manipulator in order to asure the best manipulability. Robots workspace is determined by its construction and the manipulability within the workspace differs and is even not possible in some configurations. To eliminate the occurance of problems in praxis we have to know in advance, where these areas are. With this in mind we prepared a procedure to determine and visualy present the workspace and the areas were robots manipulability, and compared different aproches with direct or inverse kinematics.
Keywords:manipulator work space, definition, optimisation, visualisation, manipulability, robotic manipulator, Denavit-Hartenberg, ACMA, direct kinematics, inverse kinematics


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