Evalvacija načrtovalnikov premika robotskega manipulatorja in premikov v različnih delovnih okoljih

BOHANEC, PETER (author), Skočaj, Danijel (mentor)

V obdobju, ko roboti postajajo industrijski standard, je optimizacija delovanja robota, zaradi ponavljajočih se premikov, zelo pomembna. V nalogi simuliramo preprosto delovno okolje z robotskim manipulatorjem, čigar naloga je prenesti izdelek z ene odlagalne površine na drugo. Želimo poiskati optimalen premik, ki bo hkrati hiter in energetsko varčen. Optimalen premik iščemo s pomočjo štirih različnih načrtovalnikov poti: BiTRRT, PRM*, RRT* in kartezijskim načrtovalnikom. V nalogi nas zanima tudi kako spreminjanje delovnega okolja vpliva na učinkovitost delovanja robota. Primerjamo prenose pri različnih oddaljenostih odlagalnih površin in velikosti pomožne ovire. Ugotovitve lahko prispevajo k bolj optimalni postavitvi delovnega okolja v tovarni in povečanju produktivnosti.

• Language: Slovenian
• Keywords: robot, robotski manipulator, evalvacija, delovno okolje
• Work type: Bachelor thesis/paper
• Typology: 2.11 - Undergraduate Thesis
• Organization: FRI - Faculty of Computer and Information Science
• Year: 2020
• PID: 20.500.12556/RUL-114978
• COBISS.SI-ID: 1538565571
• Publication date in RUL: 06.04.2020

BOHANEC, PETER, 2020, Evalvacija načrtovalnikov premika robotskega manipulatorja in premikov v različnih delovnih okoljih [online]. Bachelor’s thesis. [Accessed 5 April 2025]. Retrieved from: https://repozitorij.uni-lj.si/IzpisGradiva.php?lang=eng&id=114978

Secondary language

• Language: English
• Title: Evaluation of robotic manipulator motion planners and motion in different work spaces

Abstract

In the era of robots becoming an industry standard, optimizing how a robot works is of the utmost importance. In this work, we simulate a simple work space with a robot manipulator, which transfers a product from one surface to another. Our aim is to find an optimal motion that is simultaneously fast and energy-efficient. To find an optimal motion trajectory, we used four different planners: BiTRRT, PRM*, RRT* and cartesian planner. This work also explores how changing the work space affects the efficiency of robot motion. We compare the transfers of a product at differing distances of the surfaces and when obstacles of different sizes are introduced. These findings can significantly contribute to the knowledge of how to organize the work space in a factory so as to maximize the productivity of the robots.

• Keywords: robot, robot manipulator, evaluation, work space