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Title:Metoda ocenjevanja kinematičnih zmožnosti robota za optimizacijo lege obdelovanca v primeru robotske površinske obdelave : doktorska disertacija
Authors:ID Stradovnik, Saša (Author)
ID Hace, Aleš (Mentor) More about this mentor... New window
Files:.pdf DOK_Stradovnik_Sasa_2022.pdf (13,46 MB)
MD5: 02181477FBCD3E7980A605EFE91E39B7
 
Language:Slovenian
Work type:Doctoral dissertation
Typology:2.08 - Doctoral Dissertation
Organization:FERI - Faculty of Electrical Engineering and Computer Science
Abstract:Robotska površinska obdelava geometrijsko razgibanih obdelovancev predstavlja eno izmed zahtevnejših robotskih nalog, sploh v primeru kolaborativnih robotskih sistemov, kjer so razpoložljive kinematične zmožnosti precej zmanjšane v primerjavi s klasičnimi industrijskimi roboti. Da bi zagotovili izvedljivost takšne robotske naloge in na ta način zagotavljali fleksibilnost robotske aplikacije, je potrebno oceniti te sposobnosti pred samo izvedbo robotske površinske obdelave. Z namenom določitve natančne in fizikalno konsistentne informacije o maksimalnih sposobnostih ob upoštevanju želenih tehnoloških zahtev, bomo v sklopu doktorske disertacije predstavili metodo DTF (ang. Decomposed Twist Feasiblity). Ocenjevanje maksimalnih izvedljivih hitrosti vrha robota izhaja iz ideje o dekompoziciji translacijskega in rotacijskega gibanja, ob upoštevanju tipičnih zahtev robotske površinske obdelave, kjer je zahtevano sinhrono translacijsko-rotacijsko gibanje. Predlagana metoda DTF bo predstavljena skupaj z uveljavljenim konceptom politopa manipulabilnosti. Za razliko od obstoječih metod, ki ocenjujejo kinematične zmožnosti robota v uteženem prostoru zasuka ali obravnavajo translacijski in rotacijski podprostor ločeno, predlagan pristop ponuja natančno določitev skupnih kinematičnih sposobnosti, kar je pogosto zahtevano v primeru robotske površinske obdelave. Numerični rezultati, predstavljeni v tej doktorski disertaciji prikazujejo uporabnost predstavljene metode v primeru optimizacije lege obdelovanca vnaprej poznane znane tehnološke poti, definirane po površini obdelovanca.
Keywords:robotska površinska obdelava, izvedljivost robotske naloge, kinematične sposobnosti robota, elipsoid manipulabilnosti, politop manipulabilnosti, dekompozicija gibanja, metoda DTF, optimizacija lege obdelovanca
Place of publishing:Maribor
Place of performance:Maribor
Publisher:[S. Stradovnik]
Year of publishing:2022
Number of pages:XX, 134 str.
PID:20.500.12556/DKUM-83513 New window
UDC:531.1:007.52(043.3)
COBISS.SI-ID:144890883 New window
Publication date in DKUM:09.03.2023
Views:714
Downloads:211
Metadata:XML DC-XML DC-RDF
Categories:KTFMB - FERI
:
STRADOVNIK, Saša, 2022, Metoda ocenjevanja kinematičnih zmožnosti robota za optimizacijo lege obdelovanca v primeru robotske površinske obdelave : doktorska disertacija [online]. Doctoral dissertation. Maribor : S. Stradovnik. [Accessed 17 April 2025]. Retrieved from: https://dk.um.si/IzpisGradiva.php?lang=eng&id=83513
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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:08.12.2022

Secondary language

Language:English
Title:The method for evaluation of the kinematic capabilities for workpiece placement optimization in the case of robot surface machining
Abstract:Performing the machining of complex surfaces can be a challenging task for a robot, especially in terms of collaborative robotics, where the available motion capabilities are greatly reduced in comparison with conventional industrial robot arms. It is necessary to evaluate these capabilities prior to task execution, for which we need efficient algorithms, especially in the case of flexible robot applications. To provide accurate and physically consistent information about the maximum kinematic capabilities while considering the requirements of the task, an approach called the Decomposed Twist Feasibility (DTF) method is proposed in this doctoral thesis. The evaluation of the maximum feasible end-effector velocity is based on the idea of decomposition into the linear and angular motion capabilities, considering a typical robot machining task with synchronous linear and angular motion. The proposed DTF method is presented by the well-known manipulability polytope concept. Unlike the existing methods that estimate the kinematic performance capabilities in arbitrarily weighted twist space, or separately in the translation and the rotation subspace, our approach offers an accurate and simple solution for the determination of the total kinematic performance capabilities, which is often highly required, especially in the case of robot machining tasks. The numerical results obtained in this study show the effectiveness of the proposed approach in the case of the optimal placement of predefined tasks within the robot workspace.
Keywords:robot surface machining, task feasibility, task-dependent kinematic capability, kinematic performance evaluation, manipulability index, manipulability polytope, motion decomposition, Decomposed Twist Feasibility (DTF) method, workpiece placement optimization


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