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Title:Workpiece placement optimization for robot machining based on the evaluation of feasible kinematic directional capabilities
Authors:ID Stradovnik, Saša (Author)
ID Hace, Aleš (Author)
Files:.pdf applsci-14-01531-v2.pdf (5,96 MB)
MD5: E6BB7B3D1AD19198F9CE06B7F58FE791
 
Language:English
Work type:Article
Typology:1.01 - Original Scientific Article
Organization:FERI - Faculty of Electrical Engineering and Computer Science
Abstract:Workpiece placement plays a crucial role when performing complex surface machining task robotically. If the feasibility of a robotic task needs to be guaranteed, the maximum available capabilities should be higher than the joint capabilities required for task execution. This can be challenging, especially when performing a complex surface machining task with a collaborative robot, which tend to have lower motion capabilities than conventional industrial robots. Therefore, the kinematic and dynamic capabilities within the robot workspace should be evaluated prior to task execution and optimized considering specific task requirements. In order to estimate maximum directional kinematic capabilities considering the requirements of the surface machining task in a physically consistent and accurate way, the Decomposed Twist Feasibility (DTF) method will be used in this paper. Estimation of the total kinematic performance capabilities can be determined accurately and simply using this method, adjusted specifically for robotic surface machining purposes. In this study, we present the numerical results that prove the effectiveness of the DTF method in identifying the optimal placement of predetermined machining tasks within the robot’s workspace that requires lowest possible joint velocities for task execution. These findings highlight the practicality of the DTF method in enhancing the feasibility of complex robotic surface machining operations.
Keywords:workpiece placement optimization, robotic surface machining, feasible kinematic directional capabilities, decomposed twist feasibility (DTF) method, manipulability, non-linear optimization
Publication status:Published
Publication version:Version of Record
Submitted for review:22.01.2024
Article acceptance date:10.02.2024
Publication date:14.02.2024
Publisher:MDPI
Year of publishing:2024
Number of pages:18 str.
Numbering:Vol. 14, iss. 4, [article no.] 1531
PID:20.500.12556/DKUM-89786 New window
UDC:007.52
ISSN on article:2076-3417
COBISS.SI-ID:185701379 New window
DOI:10.3390/app14041531 New window
Copyright: 2024 by the authors
Publication date in DKUM:12.08.2024
Views:64
Downloads:25
Metadata:XML DC-XML DC-RDF
Categories:Misc.
:
STRADOVNIK, Saša and HACE, Aleš, 2024, Workpiece placement optimization for robot machining based on the evaluation of feasible kinematic directional capabilities. Applied sciences [online]. 2024. Vol. 14, no. 4,  1531. [Accessed 17 April 2025]. DOI 10.3390/app14041531. Retrieved from: https://dk.um.si/IzpisGradiva.php?lang=eng&id=89786
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Record is a part of a journal

Title:Applied sciences
Shortened title:Appl. sci.
Publisher:MDPI
ISSN:2076-3417
COBISS.SI-ID:522979353 New window

Document is financed by a project

Funder:ARIS - Slovenian Research and Innovation Agency
Project number:P2-0028
Name:Mehatronski sistemi

Secondary language

Language:Slovenian
Keywords:robotika, optimizacija


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