Analiza gibljivosti sodelovalnega robota Franka Emika Panda : zaključna naloga Univerzitetnega študijskega programa I. stopnje Strojništvo

Faculty of Mechanical Engineering, Lj. (FSLJ)

Analiza gibljivosti sodelovalnega robota Franka Emika Panda : zaključna naloga Univerzitetnega študijskega programa I. stopnje Strojništvo - Razvojno raziskovalni program

Tomc, Klemen, strojnik

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.

Type of material - undergraduate thesis ; adult, serious

Publication and manufacture - Ljubljana : [K. Tomc], 2022

Language - slovenian

COBISS.SI-ID - 121698051

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UN 0000001678 IN: 80001678 UN 1678 IN: 80001678	available - reading room

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Links to authors' personal bibliographies	Links to information on researchers in the SICRIS system
Tomc, Klemen, strojnik
Vrabič, Rok	30914

Source: Personal bibliographies and: SICRIS

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