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Title:Metoda inverzne kinematike s pomočjo genetskega algoritma : magistrsko delo
Authors:ID Petek, Matjaž (Author)
ID Šafarič, Riko (Mentor) More about this mentor... New window
ID Gotlih, Karl (Mentor) More about this mentor... New window
ID Uran, Suzana (Comentor)
Files:.pdf MAG_Petek_Matjaz_2021.pdf (6,25 MB)
MD5: BD7286CC1A7E33ED1538F25F1D78D354
PID: 20.500.12556/dkum/7974928f-ffb5-4f1f-93fb-db15eea05bba
 
.zip MAG_Petek_Matjaz_2021.zip (81,56 KB)
MD5: 83BA13E84950940CC18D47B418A83DF7
PID: 20.500.12556/dkum/85a23407-5be0-4994-862f-7746116bd13b
 
Language:Slovenian
Work type:Master's thesis/paper
Typology:2.09 - Master's Thesis
Organization:FERI - Faculty of Electrical Engineering and Computer Science
Abstract:Zaključno delo predstavlja dva nova algoritma za reševanje inverzne kinematike mehanizma robotske roke, ki delujeta na podlagi genetskega algoritma. Algoritma sta razvita in delujoča za splošno robotsko roko, ki je grajena iz sklepov in ročic. Glavna motivacija dela je sicer usmerjena v optimizacijo algoritmov za uporabo pri humanoidnih robotskih mehanizmih. Le-ti bi lahko z uporabo algoritmov posnemali človeško nebesedno komunikacijo, tj. kretnje rok, premikanje telesa itd. Algoritem za izračun inverznega kinematičnega modela na podlagi genetskega algoritma s poznavanjem Denevit-Hartenbergovih matrik (IKM-GA-DH) omogoča zanesljivo reševanje inverzne kinematike tudi za redundantne robotske roke, vendar pa za to potrebuje direktni kinematični model za vsak opazovani sklep. Algoritem za izračun inverznega kinematičnega modela na podlagi genetskega algoritma s poznavanjem direktnega kinematičnega modela (IKM-GA-DKM) pa za reševanje inverzne kinematike potrebuje le direktni kinematični model vrha opazovanega mehanizma, vendar pa rezultati pokažejo, da zato ni sposoben reševati redundantnih mehanizmov, ki imajo več redundantnih prostostnih stopenj, enako natančno kot jih lahko algoritem IKM-GA-DH.
Keywords:Inverzna kinematika, Redundantna robotska roka, Genetski algoritem
Place of publishing:Maribor
Place of performance:Maribor
Publisher:[M. Petek]
Year of publishing:2021
Number of pages:1 spletni vir (1 datoteka PDF (XI, 80 f.))
PID:20.500.12556/DKUM-81019 New window
UDC:004.8.021:007.52(043.2)
COBISS.SI-ID:97754883 New window
Publication date in DKUM:24.12.2021
Views:795
Downloads:88
Metadata:XML RDF-CHPDL DC-XML DC-RDF
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:08.12.2021

Secondary language

Language:English
Title:Inverse kinematics method based on genetic algorithm
Abstract:In this thesis work, two new algorithms for solving an inverse kinematic of a robotic arm mechanism are presented. Both algorithms are based on Genetic algorithm. Mentioned algorithms are developed for a general robotic arm mechanism that consists of joints and links. Main motivation of the thesis work is directed more towards optimization of algorithms for use in humanoid robots. The humanoid robots would be able to use the algorithm to repeat the unspoken language of human gestures. Algorithm for solving inverse kinematic model based on genetic algorithm with Denevit-Hartenberg matrixes (IKM-GA-DH) is capable to solve the inverse kinematic for a redundant mechanism based on complete forward kinematic model for every joint of the observed mechanism. Algorithm for solving inverse kinematic model based on genetic algorithm with forward kinematic model (IKM-GA-DKM), on the other hand, can solve the inverse kinematic based on forward kinematic model of only end-effector. But results show that algorithm IKM-GA-DKM isn’t capable of solving redundant mechanisms, with many redundant DOF with the same precision as algorithm IKM-GA-DH.
Keywords:Inverse kinematics, Redundant robotic arm, Genetic algorithm


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