diplomsko delo
Peter Bohanec (Author), Danijel Skočaj (Mentor)

Abstract

V obdobju, ko roboti postajajo industrijski standard, je optimizacija delovanja robota, zaradi ponavljajočih se premikov, zelo pomembna. V nalogi simuliramo preprosto delovno okolje z robotskim manipulatorjem, čigar naloga je prenesti izdelek z ene odlagalne površine na drugo. Želimo poiskati optimalen premik, ki bo hkrati hiter in energetsko varčen. Optimalen premik iščemo s pomočjo štirih različnih načrtovalnikov poti: BiTRRT, PRM*, RRT* in kartezijskim načrtovalnikom. V nalogi nas zanima tudi kako spreminjanje delovnega okolja vpliva na učinkovitost delovanja robota. Primerjamo prenose pri različnih oddaljenostih odlagalnih površin in velikosti pomožne ovire. Ugotovitve lahko prispevajo k bolj optimalni postavitvi delovnega okolja v tovarni in povečanju produktivnosti.

Keywords

robot;robotski manipulator;evalvacija;delovno okolje;računalništvo in informatika;univerzitetni študij;diplomske naloge;

Data

Language: Slovenian
Year of publishing:
Typology: 2.11 - Undergraduate Thesis
Organization: UL FRI - Faculty of Computer and Information Science
Publisher: [P. Bohanec]
UDC: 007.52(043.2)
COBISS: 1538565571 Link will open in a new window
Views: 775
Downloads: 169
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Other data

Secondary language: English
Secondary title: Evaluation of robotic manipulator motion planners and motion in different work spaces
Secondary abstract: In the era of robots becoming an industry standard, optimizing how a robot works is of the utmost importance. In this work, we simulate a simple work space with a robot manipulator, which transfers a product from one surface to another. Our aim is to find an optimal motion that is simultaneously fast and energy-efficient. To find an optimal motion trajectory, we used four different planners: BiTRRT, PRM*, RRT* and cartesian planner. This work also explores how changing the work space affects the efficiency of robot motion. We compare the transfers of a product at differing distances of the surfaces and when obstacles of different sizes are introduced. These findings can significantly contribute to the knowledge of how to organize the work space in a factory so as to maximize the productivity of the robots.
Secondary keywords: robot;robot manipulator;evaluation;work space;computer and information science;diploma;
Type (COBISS): Bachelor thesis/paper
Study programme: 1000468
Embargo end date (OpenAIRE): 1970-01-01
Thesis comment: Univ. v Ljubljani, Fak. za računalništvo in informatiko
Pages: 65 str.
ID: 11502265