20.500.12556/DKUM-16169 OBČUTLJIVOST KRITERIJEV GIBLJIVOSTI ROBOTOV V OKOLICI SINGULARNIH TOČK SENSITIVITY OF MANIPULABILITY CRITERIA OF ROBOTS IN THE SURROUNDING OF SINGULARITY POINTS V diplomski nalogi je predstavljen izračun direktnega in inverznega kinematičnega modela robotskega mehanizma s tremi prostostnimi stopnjami. Izvedena je analiza indeksa gibljivosti in singularnih vrednosti Jacobijeve matrike. Vsi izračuni, ki so zajeti v diplomskem delu, so bili najprej simbolično izračunani s pomočjo programskega orodja Mathematica, kasneje pa je verodostojnost teh izračunov preverjena še v programskem orodju Matlab, v katerem so tudi prikazani grafični rezultati izračunov. Rezultat diplomskega dela je ocena kriterija gibljivosti robotov v okolici singularne točke. This diploma work represents development of direct and inverse kinematics model for a robotic mechanism with three degrees of freedom. We performed an analisys of the manipulability index and singular values of the Jacobian matrix. All of the calculations that are contained in this diploma were first symbolically calculated using Mathematica software, authenticity of the equations was then verified using Matlab software, which was also used for displaying graphical results of our calculations. The result of this diplomawork is an evaluation of manipulability criteria of robots in surrounding of singularity points. robotika direktni in inverzni kinematični model Jacobijeva matrika indeks gibljivosti hitrostni elipsoid kinematična singularnost robotics direct and inverse kinematics Jacobian matrix manipulability index velocity ellipsoid kinematic singularity true true false [M. Zadravec] Slovenski jezik Angleški jezik Diplomsko delo/naloga 2010-10-03 19:23:45 2011-01-14 14:43:18 2022-04-13 07:55:46 2023-12-20 03:20:38 2010 0 Maribor 0 0000-00-00 NiDoloceno NiDoloceno NiDoloceno 0000-00-00 0000-00-00 0000-00-00 004.92:007.72(043.2) 14905366 URN:SI:UM:DK:SB4SDKBF UNI_Zadravec_Matej_2010.pdf UNI_Zadravec_Matej_2010.pdf 1 F2A340EEEDCA50F86763A54FA8A12207 eae47e8b33f6f4e375e9c543d867b419e33766dcc5049d3a22b3471435086a66 956a5ced-7c04-11eb-bb7a-00155d0001ca 20.500.12556/dkum/5bb30112-3c6b-4572-894b-9ce72bc4d9be https://dk.um.si/Dokument.php?lang=slv&id=18177 Fakulteta za elektrotehniko, računalništvo in informatiko 0 0 0