20.500.12556/DKUM-94380 Načrtovanje časovno optimalne robotske površinske obdelave s postopkom regijske segmentacije z upoštevanjem geometrije obdelovancev in kinematičnih zmogljivosti robotske roke doctoral dissertation Time-optimal planning of robotic surface machining using a region-based approach based on workpiece geometrical properties and the robot arm kinematic capabilities Tradicionalno se pri robotski površinski obdelavi celoten obdelovanec obdela z enotno hitrostjo in smerjo, ki ju vnaprej določi operater, ne da bi upošteval razlike v obdelovalnosti različnih območij obdelovanca ali pa zmogljivosti robota. Ta konvencionalni pristop pogosto vodi do neučinkovitosti, zlasti pri obdelovancih s kompleksno geometrijo, kjer bi prilagodljive hitrosti in smeri obdelave lahko izboljšale učinkovitost. Naša študija uvaja pristop, ki temelji na razdelitvi ploskve na regije, kjer se hitrost in smer obdelave prilagajata specifičnim lastnostim vsake regije. Ta strategija združuje kinematiko robota z geometrijo ploskve obdelovanca, pri čemer algoritem segmentiranja omogoča delitev ploskve. Učinkovitost tega pristopa je bila potrjena z eksperimentalnimi rezultati na treh različnih obdelovancih, ki so pokazali znatno izboljšanje časa obdelave. Pristop, temelječ na regijah, je omogočil do 25 % zmanjšanje časa obdelave v primerjavi s tradicionalno enosmerno obdelavo. Nadaljnje izboljšave so bile dosežene z optimizacijo lege obdelovanca, kar je v našem primeru prispevalo dodatno do 7 % izboljšanje glede na naključno lego. Izvedeni so bili tudi postopki validacije, da bi zagotovili, da so hitrosti sklepov sodelujočega robota ostale znotraj varnih operativnih omejitev med izvajanjem površinske obdelave. Traditionally, in robotic surface finishing, the entire workpiece is processed at a uniform speed, predetermined by the operator, which does not account for variations in the machinability across different regions of the workpiece. This conventional approach often leads to inefficiencies, especially given the diverse geometrical characteristics of workpieces that could potentially allow for different machining speeds. Our study introduces a region-based approach, which improves surface finishing machining time by allowing variable speeds and directions tailored to each region’s specific characteristics. This method leverages a task-oriented strategy integrating robot kinematics and workpiece surface geometry, subdivided by the clustering algorithm. Subsequently, methods for optimization algorithms were developed to calculate each region’s optimal machining speeds and directions. The efficacy of this approach was validated through numerical results on three distinct workpieces, demonstrating significant improvements in machining times. The region-based approach yielded up to a 25% reduction in machining time compared to traditional single-direction machining. Further enhancements were achieved by optimizing the workpiece positioning, which, in our case, added up to an additional 7 % improvement from the initial position. Validation processes were conducted to ensure the collaborative robot’s joint velocities remained within safe operational limits while executing the region-based surface finishing strategy. robotska površinska obdelava segmentacija obdelovanca optimizacija lege obdelovanca optimizacija časa obdelave načrtovanje poti robotske obdelave robot surface finishing workpiece clustering optimal workpiece placement machining time optimization robot machining path planning true true false [T. Pušnik] Slovenski jezik Angleški jezik Doktorsko delo/naloga 2025-08-14 14:02:08 2025-10-20 13:08:15 2025-10-22 03:08:23 0000-00-00 00:00:00 2025 0 Maribor 0 Maribor XIV, 106 str. 0000-00-00 NiDoloceno NiDoloceno NiDoloceno 0000-00-00 0000-00-00 0000-00-00 007.52:621.7.015(043.3) 253978371 Doktorska_disertacija_Tomaz_Pusnik.pdf Doktorska_disertacija_Tomaz_Pusnik.pdf 1 AAD93C6B5BC05AF8C8469C2FA14E6415 e6076fd903e61c2630633a2c3045c8378b3c6654504dff508db6b5ac0e7c7d99 5935b066-a4dc-11f0-9896-00155d000105 https://dk.um.si/Dokument.php?lang=slv&id=199730 Fakulteta za elektrotehniko, računalništvo in informatiko 0 0 0