20.500.12556/DKUM-20832 OBČUTLJIVOST KRITERIJEV GIBLJIVOSTI ROBOTOV V OKOLICI SINGULARNIH TOČK SENSITIVITY OF MANIPULABILITY CRITERIA OF ROBOTS IN THE SURROUNDING OF SINGULARITY POINTS Singularne točke v delovnem prostoru v robotiki povzročajo ogromno težav, kadar se robot giblje v okolici teh. Singularno točko doseže robotski mehanizem takrat, ko se v neki smeri ne more več pomikati. Zato je v robotiki pomembno, da se takim položajem čim bolj izogibamo. V diplomskem delu smo se ukvarjali s programom, ki izračunava in prikazuje hitrostni elipsoid kot mero oddaljenosti od singularnosti. Namen je bil izdelati orodje, da bi lahko na daljavo vodili robota, kar iz naše pisarne. Na tak način bi lahko zmeraj vedeli, kje pred nami so singularne točke in v kateri smeri je gibanje vrha robota mehanizma omejeno. When a robot is moving around singularity points they are causing a lot of problems. The robot reaches a singularity point when it cannot move anymore in a certain direction. Because of that it is very important that we avoid such circumstances as much as possible. In this work we were dealing with a software that shows a velocity ellipsoid as a measure of distance from the singularity. With that we could lead the robot even from our office. In this way we would always know where in front of us are the singularity points and in what direction we are limited. občutljivost gibljivost robotov singularne točke delovni prostor sensitivity mobility of robots singularity points working space true true false [M. Filipič] Slovenski jezik Angleški jezik Diplomsko delo/naloga 2011-10-04 09:47:38 2011-11-02 11:59:54 2022-04-14 08:18:03 2023-12-27 03:32:42 2011 0 Maribor 0 0000-00-00 NiDoloceno NiDoloceno NiDoloceno 0000-00-00 0000-00-00 0000-00-00 004.92:007.72(043.2) 16041750 URN:SI:UM:DK:8YUN19RY UNI_Filipic_Mitja_2011.pdf UNI_Filipic_Mitja_2011.pdf 1 48ABF9345E5C2F5305EC9605AFA0EB11 a2356ee3dc2b8f9576a514dad7ed8700cde8b79e16d539d3c8dabf52d5df8cc1 b885cf35-7c05-11eb-bb7a-00155d0001ca 20.500.12556/dkum/7a7cc19e-40ad-43f2-8043-8ad84ca57317 https://dk.um.si/Dokument.php?lang=slv&id=26147 Fakulteta za elektrotehniko, računalništvo in informatiko 0 0 0