20.500.12556/DKUM-75011 Reševanje problema inverzne kinematike s pomočjo algoritma diferencialne evolucije magistrsko delo Differential evolution algorithm for solving the inverse kinematics problem V magistrskem delu predstavimo reševanje problema inverzne kinematike s pomočjo algoritma diferencialne evolucije. Algoritem predstavimo na primeru robotske roke PUMA 560 skupaj z dobljenimi rezultati. Dodatno ga preizkusimo tudi na robotski roki KUKA KR 16 in ostalih problemih inverzne kinematike zunaj področja robotike, s čimer nakažemo njegovo vsestranskost. Dobljeni rezultati so pokazali, da je algoritem relativno hiter in uspešen pri reševanju problema inverzne kinematike in je tako ob ustreznih nastavitvah sposoben najti dobre rešitve za katerikoli problem. In the thesis we present a solution to the problem of inverse kinematics with the help of the differential evolution algorithm. The algorithm is presented on the example of the PUMA 560 robotic arm together with the obtained results. It is further tested on the KUKA KR 16 robot arm and other inverse kinematics problems outside the field of robotics, thus demonstrating its versatility. The obtained results showed that the algorithm is relatively fast and successful in solving the problem of inverse kinematics and is thus able to find a good solution to any problem with the appropriate settings. diferencialna evolucija inverzna kinematika robotska roka differential evolution inverse kinematics robotic arm true true false [T. Kupčič] Slovenski jezik Angleški jezik Magistrsko delo/naloga 2019-09-17 08:39:55 2019-11-22 14:13:22 2022-08-09 09:51:52 2019-12-10 08:18:08 2019 0 Maribor 0 Maribor X, 68 str. 0000-00-00 NiDoloceno NiDoloceno NiDoloceno 0000-00-00 0000-00-00 0000-00-00 004.8.021(043.2) 22840086 URN:SI:UM:DK:X9BDVDNP MAG_Kupcic_Timi_2019.pdf MAG_Kupcic_Timi_2019.pdf 1 73F9244B4ECD4EBAD8D331EEEF9F130A 013a51450c6b05e463ee6c48ae45b802940a20d6b0be5c02c49060f5b91bd403 fb899753-7c10-11eb-bb7a-00155d0001ca 20.500.12556/dkum/4ccb8da2-1c92-4ce6-ba94-5a47b93e0a38 https://dk.um.si/Dokument.php?lang=slv&id=138068 Fakulteta za elektrotehniko, računalništvo in informatiko 0 0 0