Določitev optimalnega delovnega prostora robota

diplomsko delo

Žan Grabner (Author), Karl Gotlih (Mentor), Riko Šafarič (Mentor)

Abstract

V praksi se srečujemo s problemom pravilne postavitve robota za čim boljšo manipulacijo. Delovni prostor je namreč odvisen od same zgradbe robota, zato manipulacijo znotraj tega ni povsod enaka, na nekaterih delih celo ni mogoča. V izogib kasnejšim težavam je potrebno vnaprej predvideti, kje je področje delovnega prostora, v katerem bo gibljivost robota najboljša. Zaradi tega je bil izdelan postopek izračuna in vizualizacije celotnega delovnega prostora in prikaz področij kjer je gibljivost boljša oz. slabša, ter primerjava postopka reševanja z direktno in inverzno kinematiko.

Keywords

delovni prostor robota;določitev;optimizacija;vizualizacija;gibljivost;robotski mehanizem;Denavit-Hartenberg;ACMA;direktna kinematika;inverzna kinematika;diplomske naloge;

Data

Language:	Slovenian
Year of publishing:	2016
Typology:	2.11 - Undergraduate Thesis
Organization:	UM FS - Faculty of Mechanical Engineering
Publisher:	[Ž. Grabner]
UDC:	658.51:007.52(043.2)
COBISS:	19557142
Views:	1752
Downloads:	138
Average score:	0 (0 votes)
Metadata:

Other data

Secondary language:	English
Secondary title:	OPTIMAL DEFINITION OF THE ROBOT WORK SPACE
Secondary abstract:	In praxis we are often confronted with the problem of adequate position of the manipulator in order to asure the best manipulability. Robots workspace is determined by its construction and the manipulability within the workspace differs and is even not possible in some configurations. To eliminate the occurance of problems in praxis we have to know in advance, where these areas are. With this in mind we prepared a procedure to determine and visualy present the workspace and the areas were robots manipulability, and compared different aproches with direct or inverse kinematics.
Secondary keywords:	manipulator work space;definition;optimization;visualisation;manipulability;robotic manipulator;Denavit-Hartenberg;ACMA;direct kinematics;inverse kinematics;
URN:	URN:SI:UM:
Type (COBISS):	Undergraduate thesis
Thesis comment:	Univ. v Mariboru, Fak. za strojništvo
Pages:	VIII, 46 f.
ID:	9129310