Povezanost prostora leg robotske naprave : delo diplomskega seminarja

Pogačnik Souvent, Jakob (author), Pavešić, Petar (mentor)

S topološkega vidika predstavimo definicije robotske naprave, konfiguracijskega prostora in kinematične preslikave. Podamo definicijo singularnih točk kinematične preslikave in podrobneje obravnavamo razreda zaporednih in vzporednih robotskih naprav. Kinematično funkcijo zaporednih naprav izračunamo s pomočjo Denavit-Hartenbergovih parametrov in opišemo njeno množico singularnosti. Utemeljimo pogoje pod katerimi singularne točke in singularne vrednosti ločijo konfiguracijski prostor zaporednih naprav. Za analizo delovanja vzporednih naprav uvedemo pojma sestavnega načina in razširjenega konfiguracijskega prostora. Z uporabo izreka o implicitni preslikavi določimo lokalno kinematično preslikavo vzporednih naprav.

• Language: Slovenian
• Keywords: robotska naprava, konfiguracijski prostor, kinematična preslikava, problem načrtovanja gibanja
• Work type: Final seminar paper
• Typology: 2.11 - Undergraduate Thesis
• Organization: FMF - Faculty of Mathematics and Physics
• Year: 2024
• PID: 20.500.12556/RUL-159366
• UDC: 515.1
• COBISS.SI-ID: 200953091
• Publication date in RUL: 08.07.2024

Secondary language

• Language: English
• Title: Connectedness of configuration spaces of robot manipulators

Abstract

We present definitions of a robot manipulator, configuration space and kinematic map from a topological viewpoint. The classes of serial and parallel manipulators are studied to determine their kinematic mapping and its singular points. The kinematic mapping of serial manipulators and its singular points are computed using Denavit-Hartenberg parameters. We study the conditions under which singular points and singular values separate the configuration space of serial manipulators. For analysis of parallel manipulators the concepts of assembly modes and extended configuration space are presented. We determine the local kinematic mapping of parallel manipulators using the implicit function theorem.

• Keywords: robot manipulator, configuration space, kinematic mapping, motion planning problem