Realnočasovna analiza kinematične in dinamične gibljivosti sodelovalnega robota : magistrsko delo magistrskega študijskega programa II. stopnje Strojništvo

Krasnik, Marko (author), Vrabič, Rok (mentor)

Zaključno 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.

• Language: Slovenian
• Keywords: sodelovalni roboti, kinematična gibljivost, dinamična gibljivost, krmiljenje, simulacije
• Work type: Master's thesis/paper
• Typology: 2.09 - Master's Thesis
• Organization: FS - Faculty of Mechanical Engineering
• Place of publishing: Ljubljana
• Publisher: [M. Krasnik]
• Year: 2024
• Number of pages: XVI, 75 str.
• PID: 20.500.12556/RUL-155374
• UDC: 007.52:62-50:681.5.017(043.2)
• COBISS.SI-ID: 191032579
• Publication date in RUL: 28.03.2024

Secondary language

• Language: English
• Title: Real-time analysis of kinematic and dynamic manipulability of a collaborative robot

Abstract

This thesis deals with using real-time computing of kinematic and dynamic manipulability to describe the current joint-state of a collaborative robot. Simulation was used as the primary method of analysis with a simulated Franka Emika Panda robot. A program was made to act as the controller of the simulated robot while simultaneously computing kinematic and dynamic manipulability. Two different methods of control were made: a torque controller and a velocity controller. Each controller was tested with 4 different experiments consisting of increasingly more complex movements for the robot. An additional 3 experiments were done in the end on a modified torque controller with a different method of computing inverse kinematics. After analyzing the data it was concluded that in cases of periodic movements of the robot,kinematic and dynamic manipulability form typical patterns. In the case of dynamic manipulability these patterns flatten if the robot moves into a movement-restricting configuration. Accurate assessment of current joint-state requires additional data as both kinematic and dynamic manipulability can have the same values with different joint-states.

• Keywords: collaborative robots, kinematic manipulability, dynamic manipulability, control, simulations