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Title:
HAPTIČNO VODENJE UČNE ROBOTSKE ROKE LYNXMOTION AL5D
Authors:
ID
Zrim, Grega
(Author)
ID
Hace, Aleš
(Mentor)
More about this mentor...
Files:
UNI_Zrim_Grega_2013.pdf
(3,73 MB)
MD5: 08B65D985BC584E9419AD1BD43D85B80
Language:
Slovenian
Work type:
Bachelor thesis/paper
Typology:
2.11 - Undergraduate Thesis
Organization:
FERI - Faculty of Electrical Engineering and Computer Science
Abstract:
V diplomskem delu je opisano haptično vodenje robotske roke. S haptično napravo preko vmesnika – računalnika vodimo robotsko roko tako, da sledi našim gibom in hkrati s senzorjem za razdaljo pošiljamo povratno informacijo, ki se nato pretvori v silo na uporabnika. S tem bi lažje upravljali z robotsko roko, saj bi prilagajanje robota za nove delovne naloge potekalo čim bolj gladko. Za delovanje smo izpeljali kinematični model po Denavit-Hartenbergovi metodi ter iz tega določili še inverzno kinematiko s pomočjo geometrijskega postopka.
Keywords:
robotska roka Lynxmotion
,
AL5D
,
haptično vodenje
,
kinematika
Place of publishing:
Maribor
Publisher:
[G. Zrim]
Year of publishing:
2013
PID:
20.500.12556/DKUM-42021
UDC:
007.52:681.5(043.2)
COBISS.SI-ID:
17502998
NUK URN:
URN:SI:UM:DK:AY0VPDDM
Publication date in DKUM:
20.09.2013
Views:
2418
Downloads:
200
Metadata:
Categories:
KTFMB - FERI
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:
ZRIM, Grega, 2013,
HAPTIČNO VODENJE UČNE ROBOTSKE ROKE LYNXMOTION AL5D
[online]. Bachelor’s thesis. Maribor : G. Zrim. [Accessed 27 April 2025]. Retrieved from: https://dk.um.si/IzpisGradiva.php?lang=eng&id=42021
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Secondary language
Language:
English
Title:
HAPTIC CONTROL OF EDUCATIONAL ROBOT ARM LYNXMOTION AL5D
Abstract:
This tesis describes haptic control of a robotic arm. We conduct the robot arm with the haptic device via the interface – computer, in the way, that it follows our motion and at the same time with a distance sensor sending feedback, which is then converted to the force applied to the user. In this manner it could be easier to manage a robotic arm, because the robot is adapting to new tasks as smoothly as possible. For the functioning we carried out a kinematic model by Denavit – Hartenberg method and from this the inverse kinematics was set by using a geometric process.
Keywords:
Lynxmotion robotic arm
,
AL5D
,
haptic control
,
kinematics
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