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Title:
Reševanje problema inverzne kinematike s pomočjo algoritma diferencialne evolucije : magistrsko delo
Authors:
ID
Kupčič, Timi
(Author)
ID
Bošković, Borko
(Mentor)
More about this mentor...
ID
Brest, Janez
(Comentor)
Files:
MAG_Kupcic_Timi_2019.pdf
(3,41 MB)
MD5: 73F9244B4ECD4EBAD8D331EEEF9F130A
PID:
20.500.12556/dkum/4ccb8da2-1c92-4ce6-ba94-5a47b93e0a38
Language:
Slovenian
Work type:
Master's thesis/paper
Typology:
2.09 - Master's Thesis
Organization:
FERI - Faculty of Electrical Engineering and Computer Science
Abstract:
V magistrskem delu predstavimo reševanje problema inverzne kinematike s pomočjo algoritma diferencialne evolucije. Algoritem predstavimo na primeru robotske roke PUMA 560 skupaj z dobljenimi rezultati. Dodatno ga preizkusimo tudi na robotski roki KUKA KR 16 in ostalih problemih inverzne kinematike zunaj področja robotike, s čimer nakažemo njegovo vsestranskost. Dobljeni rezultati so pokazali, da je algoritem relativno hiter in uspešen pri reševanju problema inverzne kinematike in je tako ob ustreznih nastavitvah sposoben najti dobre rešitve za katerikoli problem.
Keywords:
diferencialna evolucija
,
inverzna kinematika
,
robotska roka
Place of publishing:
Maribor
Place of performance:
Maribor
Publisher:
[T. Kupčič]
Year of publishing:
2019
Number of pages:
X, 68 str.
PID:
20.500.12556/DKUM-75011
UDC:
004.8.021(043.2)
COBISS.SI-ID:
22840086
NUK URN:
URN:SI:UM:DK:X9BDVDNP
Publication date in DKUM:
22.11.2019
Views:
1421
Downloads:
258
Metadata:
Categories:
KTFMB - FERI
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Licences
License:
CC BY-NC-ND 4.0, Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International
Link:
http://creativecommons.org/licenses/by-nc-nd/4.0/
Description:
The most restrictive Creative Commons license. This only allows people to download and share the work for no commercial gain and for no other purposes.
Licensing start date:
17.09.2019
Secondary language
Language:
English
Title:
Differential evolution algorithm for solving the inverse kinematics problem
Abstract:
In the thesis we present a solution to the problem of inverse kinematics with the help of the differential evolution algorithm. The algorithm is presented on the example of the PUMA 560 robotic arm together with the obtained results. It is further tested on the KUKA KR 16 robot arm and other inverse kinematics problems outside the field of robotics, thus demonstrating its versatility. The obtained results showed that the algorithm is relatively fast and successful in solving the problem of inverse kinematics and is thus able to find a good solution to any problem with the appropriate settings.
Keywords:
differential evolution
,
inverse kinematics
,
robotic arm
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