Notranje pregrade delovnih prostorov redundantnih robotov : delo diplomskega seminarja

Schrader, Jakob (author), Pavešić, Petar (mentor)

Ogledamo si splošno metodo za določanje delovnega prostora redundantnih robotov in njegovih notranjih pregrad z analizo sukališč kinematične preslikave, ki jih dobimo z reševanjem problema inverzne kinematike ter komentiramo sposobnost metode upoštevanja kinematičnih omejitev.

• Language: Slovenian
• Keywords: redundanten robot, sukališča kinematične preslikave, delovni prostor, notranje pregrade delovnega prostora, kinematične omejitve, kd-drevo
• Work type: Final seminar paper
• Typology: 2.11 - Undergraduate Thesis
• Organization: FMF - Faculty of Mathematics and Physics
• Year: 2024
• PID: 20.500.12556/RUL-162355
• UDC: 515.1
• COBISS.SI-ID: 208566275
• Publication date in RUL: 21.09.2024

Secondary language

• Language: English
• Title: A method based on the vanishing of self-motion manifolds to determine the collision-free workspace of reduntant robots

Abstract

We examine a general method for determining the workspace and its interrior barriers of a redundant robot by analysing the robots' self-motion manifolds and comment on the method's capability of working with kinematic constraints.

• Keywords: redundant robot, self-motion manifolds, robot workspace, workspace barriers, kinematic constraints, kd-tree