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master's thesis
Numerički izračun konfiguracije alata
2022. urn:nbn:hr:179:070836
Barešić, Andrija
University of Split
Faculty of Electrical Engineering, Mechanical Engineering and Naval Architecture
Department of Electronics and Computing

Cite this document

Barešić, A. (2022). Numerički izračun konfiguracije alata (Master's thesis). Split: University of Split, Faculty of Electrical Engineering, Mechanical Engineering and Naval Architecture. Retrieved from https://urn.nsk.hr/urn:nbn:hr:179:070836

Barešić, Andrija. "Numerički izračun konfiguracije alata." Master's thesis, University of Split, Faculty of Electrical Engineering, Mechanical Engineering and Naval Architecture, 2022. https://urn.nsk.hr/urn:nbn:hr:179:070836

Barešić, Andrija. "Numerički izračun konfiguracije alata." Master's thesis, University of Split, Faculty of Electrical Engineering, Mechanical Engineering and Naval Architecture, 2022. https://urn.nsk.hr/urn:nbn:hr:179:070836

Barešić, A. (2022). 'Numerički izračun konfiguracije alata', Master's thesis, University of Split, Faculty of Electrical Engineering, Mechanical Engineering and Naval Architecture, accessed 26 April 2024, https://urn.nsk.hr/urn:nbn:hr:179:070836

Barešić A. Numerički izračun konfiguracije alata [Master's thesis]. Split: University of Split, Faculty of Electrical Engineering, Mechanical Engineering and Naval Architecture; 2022 [cited 2024 April 26] Available at: https://urn.nsk.hr/urn:nbn:hr:179:070836

A. Barešić, "Numerički izračun konfiguracije alata", Master's thesis, University of Split, Faculty of Electrical Engineering, Mechanical Engineering and Naval Architecture, Split, 2022. Available at: https://urn.nsk.hr/urn:nbn:hr:179:070836

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Metadata
TitleNumerički izračun konfiguracije alata
Title (english)Numerical calculation of tool configuration
AuthorAndrija Barešić
MentorMojmil Cecić (mentor)
GranterUniversity of Split
Faculty of Electrical Engineering, Mechanical Engineering and Naval Architecture
(Department of Electronics and Computing)
Split
Defense date and country2022-06-29, Croatia
Scientific / art field,
discipline and subdiscipline		TECHNICAL SCIENCES
Basic Technical Sciences
Automatics
Abstract
Većina robota koji se danas koriste su industrijski roboti ili manipulatori. Cilj upravljanja takvim robotom je dovesti vrh robota na kojem je ugrađen neki alat kao što je npr. prihvatnica, uređaj za zavarivanje, uređaj za raspršivanje boje i sl. u neku točku u prostoru. Iz tog razloga je vrlo važno poznavanje trenutnog položaja vrha robotskog manipulatora (alata), ali i njegove orijentacije, te sve to u odnosu na bazu robotskog manipulatora odnosno na njoj pridruženi (referentni) koordinatni sustav. Položaj i orijentacija vrha manipulatora (alata) se skupa nazivaju konfiguracija alata i ovaj rad osim što daje pregled kinematike robotskih manipulatora, također objašnjava način matematičkog zapisivanja konfiguracije alata, te njeno određivanje iz poznatih zakreta zglobova. Cijeli postupak izrade matematičkog kinematičkog modela robota Denavit-Hartenbergovom metodom je prikazan na konkretnom primjeru, te je pomoću programskog paketa MATLAB izvršen numerički izračun konfiguracije alata za taj konkretni robotski manipulator uz poznati kinematički model (matrična jednadžaba), te uz poznavanje zakreta pojedinih zglobova. Dobiveni rezultati su na kraju uspoređeni sa simulacijom tog konkretnog manipulatora čime je pokazano kako se poznavanjem dimenzija robotskog manipulatora, te pravilnom primjenom Denavit-Hartenbergove metode može iz poznatih zakreta zglobova točno izračunati konfiguracija alata robotskog manipulatora.
Abstract (english)
Most of today's robots are industrial robots or manipulators. The goal of controlling the robot is to set its tip which has a built-in tool such as a gripper, welding tool, paint disperser, etc. into a certain point in space. For that reason, it is very important to know the current position of the tip of the robot manipulator (tool) and its orientation, all that in reference to the base, that is, the coordinate system attached to the base. The position and orientation of the tool combined are called tool configuration and this thesis, besides doing an overview of the robot manipulator kinematics, also explains the mathematical notation of the tool configuration as well as its determination based on the known rotations of the joints. The entire process of making a mathematical kinematic model of a robot using the Denavit-Hartenberg method is shown on an existing example. After that, the numerical calculation of the tool configuration for that specific robot manipulator is done using MATLAB software package with a known kinematic model (matrix equation) and rotation of certain joints. In the end, the obtained results are compared with a simulation of the used robot manipulator which shows that by knowing the dimensions of the robot manipulator and by the right use of the Denavit-Hartenberg method it is possible to exactly determine the tool configuration of the robot manipulator from known joint rotations.
Keywords
Keywords (english)
Languagecroatian
URN:NBNurn:nbn:hr:179:070836
Study programmeTitle: Systems and Control
Study programme type: university
Study level: graduate
Academic / professional title: magistar/magistra inženjer/inženjerka automatike i sustava (magistar/magistra inženjer/inženjerka automatike i sustava)
Type of resourceText
File originBorn digital
Access conditionsAccess restricted to authenticated users
Terms of useLicence In copyright icon
Created on2023-02-21 11:49:26