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Realnočasovna analiza kinematične in dinamične gibljivosti sodelovalnega robota : magistrsko delo magistrskega študijskega programa II. stopnje StrojništvoKrasnik, MarkoZaključno delo obravnava realnočasovni preračun kinematične in dinamične gibljivosti sodelovalnega robota, ter analizo uporabnosti teh parametrov za opis njegovega stanja. Kot primarna metoda analize ... je bila uporabljena simulacija z robotom Franka Emika Panda. Za preizkušanje je bil potreben program, ki krmili simuliranega robota, sočasno računa kinematično in dinamično gibljivost. Izdelana sta bila 2 osnovna krmilnika, navorni in hitrostni. Na vsakem krmilniku so bili narejeni 4 preizkusi, vsak z kompleksnejšim gibanjem robota. Dodatno so bili narejeni še 3 preizkusi na navornem krmilniku z alternativnim izračunom inverzne kinematike. Z analizo rezultatov je bilo ugotovljeno, da ob periodičnih pomikih robota krivulji obeh parametrov gibljivosti izrišeta tipičen vzorec. Maksimalne vrednosti dinamične gibljivosti se zmanjšajo če se robot pomakne v neugodno konfiguracijo – vzorec se splošči. Vrednosti parametrov sta lahko enaki pri različnih konfiguracijah robota, zato razlikovanje med temi konfiguracijami zahteva dodatne podatke.Type of material - master's thesis ; adult, seriousPublication and manufacture - Ljubljana : [M. Krasnik], 2024Language - slovenianCOBISS.SI-ID - 191032579
Author
Krasnik, Marko
Other authors
Vrabič, Rok
Topics
sodelovalni roboti |
kinematična gibljivost |
dinamična gibljivost |
krmiljenje |
simulacije |
collaborative robots |
kinematic manipulability |
dynamic manipulability |
control |
simulations
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Library | Call number – location, accession no. ... | Copy status |
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Faculty of Mechanical Engineering, Lj. | MAG 1211 IN: 70001211 |
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Krasnik, Marko | ![]() |
Vrabič, Rok | 30914 |
Source: Personal bibliographies
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