20.500.12556/DKUM-40585 TOPOLOGIJA DELOVNIH PROSTOROV INDUSTRIJSKIH ROBOTOV THE TOPOLOGY OF INDUSTRIAL ROBOT WORKSPACE Kljub razširjenosti robotskih sistemov v industriji je malo znanega o samem algebraičnem in geometrijskem ozadju, ki nam dejansko definira uporabnost in sposobnost robotskega sistema v dani točki delovnega prostora. S takim znanjem lahko predvidimo obnašanje robota v vsakem položaju delovnega prostora in s tem preprečimo morebitne zaplete. Z namenom priti do teh podatkov je v nalogi delovni prostor industrijskega manipulatorja opisan s pomočjo topologije prostorov, ki nam podaja matematično dogajanje znotraj le-tega. Za lažjo predstavo je delovni prostor robota prikazan s pomočjo nivojskih krivulj, ki nam dajo obris samega prostora, s prerezi po posameznih nivojih pa lahko pogledamo v sam prostor. Izrise in prereze sem izdelala s pomočjo programske opreme Mathematica. Kljub večjemu številu parametrov, ki nam podajajo lastnosti delovnega prostora robota pridemo do ugotovitve, da imajo največji vpliv na tega dejansko dolžine ročic posameznih sklepov. Opis delovnega prostora s topološkimi zakonitostmi vsekakor pripomore k lažjemu razumevanju delovnega procesa robotskega sistema in s tem pomaga pri odpravljanju morebitnih napak pri samem izvajanju želenih nalog robota. Despite the prevalence of robotic systems in industry, there is little known about the algebraic and geometric background which actually defines the applicability and capacity of the robotic system at a given point in the workspace. Applying this knowledge can enable us to predict robot behaviour in every position in the workspace and thus prevent potential complications. With the intention of acquiring these data the workspace of the industrial manipulator is described with the help of the topological space that gives us the mathematical occurrence within. In order to visualise it easily, the robot workspace is presented with the help of level curves, which give us the outline of the space, and with the cross-sections at individual levels we can see into the space. The drawings and cross-sections were made by using the software Mathematica. Despite the larger number of parameters, which show us the properties of the workspace, we come to the conclusion that the lever lengths of individual joints have the greatest impact on the workspace. Describing workspace with topological regularities definitely helps us to understand the workspace of the robotic system more easily and thus helps us to avoid potential malfunctions in the execution of the desired robot tasks robotika delovni prostor robota kinematika topologija robotics robot workspace kinematics topology true true false [A. Zver] Slovenski jezik Angleški jezik Magistrsko delo 2013-05-31 10:12:32 2013-07-12 09:44:20 2022-05-12 23:47:46 2021-04-23 03:19:20 2013 0 Maribor 0 0000-00-00 NiDoloceno NiDoloceno NiDoloceno 0000-00-00 0000-00-00 0000-00-00 [004.869+007.52]:531.7(043) 17015574 URN:SI:UM:DK:YV3I6SZN MAG_Zver_Andrejka_2013.pdf MAG_Zver_Andrejka_2013.pdf 1 F9086F51B2E0873A873B344B8D7F20C7 aff74d603610768618916f5ed7f1ce5ee4906c7829bb8c7d2d4e0d27ef100424 fc48067e-7c09-11eb-bb7a-00155d0001ca 20.500.12556/dkum/73801a62-f72f-49de-984c-66690232043e https://dk.um.si/Dokument.php?lang=slv&id=55604 Fakulteta za strojništvo 0 0 0