zaključna naloga Univerzitetnega študijskega programa I. stopnje Strojništvo - Razvojno raziskovalni program
Klemen Tomc (Author), Rok Vrabič (Mentor)

Abstract

V robotiki gibljivost predstavlja mero, ki pove sposobnost premika vrha robota v poljubni smeri. Zaključna naloga zajema teoretične osnove kinematike manipulatorjev, kjer so predstavljene osnove transformacij koordinatnih sistemov, izračun direktne kinematike in inverzne kinematike ter opredelitev pojma gibljivosti. V eksperimentalnem delu naloge smo prikazali izračun direktne in inverzne kinematike robota Franka Emika Panda. S pomočjo izračunane inverzne kinematike v nekaj izbranih točkah, smo poizkusili določiti mejno mero gibljivosti merjene po Yoshikawi, pri kateri bi robot izvedel ciljni gib in bi s tem lahko v naprej napovedali izvedljivost giba robota.

Keywords

diplomske naloge;robotika;transformacijska matrika;direktna kinematika;Denavit-Hartenbergovi parametri;jakobijeva matrika;inverzna kinematika;gibljivost;

Data

Language: Slovenian
Year of publishing:
Typology: 2.11 - Undergraduate Thesis
Organization: UL FS - Faculty of Mechanical Engineering
Publisher: [K. Tomc]
UDC: 004.896:681.5(043.2)
COBISS: 121698051 Link will open in a new window
Views: 26
Downloads: 18
Average score: 0 (0 votes)
Metadata: JSON JSON-RDF JSON-LD TURTLE N-TRIPLES XML RDFA MICRODATA DC-XML DC-RDF RDF

Other data

Secondary language: English
Secondary title: Manipulability analysis of Franka Emika Panda collaborative robot
Secondary abstract: In field of robotic manipulability represents a measure that describes the ability of robots end effector to move in any given direction. Final thesis covers theoretical basics of coordinate system transformations, calculation of direct and inverse kinematic and the definition of the concept of manipulability. In experimental part of thesis we demonstrated calculation of direct and inverse kinematic of Franka Emika Panda robot. With help of calculated inverse kinematic in a few selected points, we tried to determine a limit measure of manipulability according to Yoshikawa at which the robot would perform the targeted movement and thus we could predict the feasibility of the robot's movement in the future.
Secondary keywords: thesis;robotic;transformation matrix;forward kinematic;Denavit-Hartenberg parameters;jacobian matrix;manipulability;
Type (COBISS): Final paper
Study programme: 0
Embargo end date (OpenAIRE): 1970-01-01
Thesis comment: Univ. v Ljubljani, Fak. za strojništvo
Pages: XII, 30 f.
ID: 16327036
Recommended works:
, zaključna naloga Univerzitetnega študijskega programa I. stopnje Strojništvo - Razvojno raziskovalni program
, magistrsko delo
, no subtitle data available
, diplomsko delo
, delo diplomskega seminarja