20.500.12556/DKUM-92351 Task-oriented evaluation of the feasible kinematic directional capabilities for robot machining Performing the machining of complex surfaces can be a challenging task for a robot, especially in terms of collaborative robotics, where the available motion capabilities are greatly reduced in comparison with conventional industrial robot arms. It is necessary to evaluate these capabilities prior to task execution, for which we need efficient algorithms, especially in the case of flexible robot applications. To provide accurate and physically consistent information about the maximum kinematic capabilities while considering the requirements of the task, an approach called the Decomposed Twist Feasibility (DTF) method is proposed in this study. The evaluation of the maximum feasible end-effector velocity is based on the idea of decomposition into the linear and angular motion capabilities, considering a typical robot machining task with synchronous linear and angular motion. The proposed DTF method is presented by the well-known manipulability polytope concept. Unlike the existing methods that estimate the kinematic performance capabilities in arbitrarily weighted twist space, or separately in the translation and the rotation subspace, our approach offers an accurate and simple solution for the determination of the total kinematic performance capabilities, which is often highly required, especially in the case of robot machining tasks. The numerical results obtained in this study show the effectiveness of the proposed approach. Moreover, the proposed DTF method could represent suitable kinematic performance criteria for the optimal placement of predefined tasks within the robot workspace robot surface machining task feasibility task-dependent kinematic capability kinematic performance evaluation manipulability index manipulability polytope motion decomposition Decomposed Twist Feasibility method DTF method robotski stroji kinematika true false true MDPI AG Angleški jezik Slovenski jezik https://www.mdpi.com/journal/sensors © 2022 by the authors. Članek v reviji 2025-04-01 08:29:52 2025-04-01 08:29:52 2025-04-02 03:09:44 0000-00-00 00:00:00 2022 0 0 25 str. iss. 11 Vol. 22 2022 0000-00-00 Zaloznikova Objavljeno NiDoloceno 2022-04-26 2022-06-01 2022-06-03 007.52 110633219 10.3390/s22114267 1424-8220 sensors-22-04267-v3.pdf sensors-22-04267-v3.pdf 1 F7E9F4491FA2D89F44C4711AAD366992 ebcd91369eb07297a53599e11c82f3ab3de749939b645a9bcdcdb43c194e54b5 057ed212-0ec3-11f0-811a-00155d000105 https://dk.um.si/Dokument.php?lang=slv&id=189877 https://www.mdpi.com/1424-8220/22/11/4267 0 0a773753-0ec3-11f0-811a-00155d000105 https://dk.um.si/Dokument.php?lang=slv&id=189878 Fakulteta za elektrotehniko, računalništvo in informatiko 0 0 0