{"?xml":{"@version":"1.0"},"edm:RDF":{"@xmlns:dc":"http://purl.org/dc/elements/1.1/","@xmlns:edm":"http://www.europeana.eu/schemas/edm/","@xmlns:wgs84_pos":"http://www.w3.org/2003/01/geo/wgs84_pos","@xmlns:foaf":"http://xmlns.com/foaf/0.1/","@xmlns:rdaGr2":"http://rdvocab.info/ElementsGr2","@xmlns:oai":"http://www.openarchives.org/OAI/2.0/","@xmlns:owl":"http://www.w3.org/2002/07/owl#","@xmlns:rdf":"http://www.w3.org/1999/02/22-rdf-syntax-ns#","@xmlns:ore":"http://www.openarchives.org/ore/terms/","@xmlns:skos":"http://www.w3.org/2004/02/skos/core#","@xmlns:dcterms":"http://purl.org/dc/terms/","edm:WebResource":[{"@rdf:about":"http://www.dlib.si/stream/URN:NBN:SI:DOC-433SHMIQ/36a-b3682-c249767-246ad363-f984fbf49/PDF","dcterms:extent":"13787 KB"},{"@rdf:about":"http://www.dlib.si/stream/URN:NBN:SI:DOC-433SHMIQ/b1a558e0-8914-4777-9920-a15a5e26789b/TEXT","dcterms:extent":"304 KB"},{"@rdf:about":"http://www.dlib.si/stream/URN:NBN:SI:DOC-433SHMIQ/46333f48-c972-4d67-9342-fa662ab6f89b/WEB","dcterms:extent":"0 KB"}],"edm:ProvidedCHO":{"@rdf:about":"URN:NBN:SI:DOC-433SHMIQ","dcterms:issued":"2023","dc:contributor":"Hace, Aleš","dc:creator":"Stradovnik, Saša","dc:format":{"@xml:lang":"sl","#text":"XX, 134 str., 30 cm"},"dc:identifier":["COBISSID:144890883","URN:URN:NBN:SI:doc-433SHMIQ"],"dc:language":"sl","dc:publisher":{"@xml:lang":"sl","#text":"S. Stradovnik"},"dc:source":{"@xml:lang":"sl","#text":"visokošolska dela"},"dc:subject":[{"@xml:lang":"en","#text":"Decomposed Twist Feasibility (DTF) method"},{"@xml:lang":"sl","#text":"dekompozicija gibanja"},{"@xml:lang":"sl","#text":"Disertacije"},{"@xml:lang":"sl","#text":"doktorske disertacije"},{"@xml:lang":"sl","#text":"elipsoid manipulabilnosti"},{"@xml:lang":"sl","#text":"izvedljivost robotske naloge"},{"@xml:lang":"en","#text":"kinematic performance evaluation"},{"@xml:lang":"sl","#text":"kinematične sposobnosti robota"},{"@xml:lang":"en","#text":"manipulability index"},{"@xml:lang":"en","#text":"manipulability polytope"},{"@xml:lang":"sl","#text":"metoda DTF"},{"@xml:lang":"en","#text":"motion decomposition"},{"@xml:lang":"sl","#text":"optimizacija lege obdelovanca"},{"@xml:lang":"sl","#text":"politop manipulabilnosti"},{"@xml:lang":"en","#text":"robot surface machining"},{"@xml:lang":"sl","#text":"Roboti"},{"@xml:lang":"sl","#text":"robotska površinska obdelava"},{"@xml:lang":"en","#text":"task feasibility"},{"@xml:lang":"en","#text":"task-dependent kinematic capability"},{"@xml:lang":"en","#text":"workpiece placement optimization"}],"dc:title":{"@xml:lang":"sl","#text":"Metoda ocenjevanja kinematičnih zmožnosti robota za optimizacijo lege obdelovanca v primeru robotske površinske obdelave| doktorska disertacija|"},"dc:description":[{"@xml:lang":"sl","#text":"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 doctoral thesis. 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 in the case of the optimal placement of predefined tasks within the robot workspace"},{"@xml:lang":"sl","#text":"Robotska površinska obdelava geometrijsko razgibanih obdelovancev predstavlja eno izmed zahtevnejših robotskih nalog, sploh v primeru kolaborativnih robotskih sistemov, kjer so razpoložljive kinematične zmožnosti precej zmanjšane v primerjavi s klasičnimi industrijskimi roboti. Da bi zagotovili izvedljivost takšne robotske naloge in na ta način zagotavljali fleksibilnost robotske aplikacije, je potrebno oceniti te sposobnosti pred samo izvedbo robotske površinske obdelave. Z namenom določitve natančne in fizikalno konsistentne informacije o maksimalnih sposobnostih ob upoštevanju želenih tehnoloških zahtev, bomo v sklopu doktorske disertacije predstavili metodo DTF (ang. Decomposed Twist Feasiblity). Ocenjevanje maksimalnih izvedljivih hitrosti vrha robota izhaja iz ideje o dekompoziciji translacijskega in rotacijskega gibanja, ob upoštevanju tipičnih zahtev robotske površinske obdelave, kjer je zahtevano sinhrono translacijsko-rotacijsko gibanje. Predlagana metoda DTF bo predstavljena skupaj z uveljavljenim konceptom politopa manipulabilnosti. Za razliko od obstoječih metod, ki ocenjujejo kinematične zmožnosti robota v uteženem prostoru zasuka ali obravnavajo translacijski in rotacijski podprostor ločeno, predlagan pristop ponuja natančno določitev skupnih kinematičnih sposobnosti, kar je pogosto zahtevano v primeru robotske površinske obdelave. Numerični rezultati, predstavljeni v tej doktorski disertaciji prikazujejo uporabnost predstavljene metode v primeru optimizacije lege obdelovanca vnaprej poznane znane tehnološke poti, definirane po površini obdelovanca"}],"edm:type":"TEXT","dc:type":[{"@xml:lang":"sl","#text":"visokošolska dela"},{"@xml:lang":"en","#text":"theses and dissertations"},{"@rdf:resource":"http://www.wikidata.org/entity/Q1266946"}]},"ore:Aggregation":{"@rdf:about":"http://www.dlib.si/?URN=URN:NBN:SI:DOC-433SHMIQ","edm:aggregatedCHO":{"@rdf:resource":"URN:NBN:SI:DOC-433SHMIQ"},"edm:isShownBy":{"@rdf:resource":"http://www.dlib.si/stream/URN:NBN:SI:DOC-433SHMIQ/36a-b3682-c249767-246ad363-f984fbf49/PDF"},"edm:rights":{"@rdf:resource":"http://rightsstatements.org/vocab/InC/1.0/"},"edm:provider":"Slovenian National E-content Aggregator","edm:intermediateProvider":{"@xml:lang":"en","#text":"National and University Library of Slovenia"},"edm:dataProvider":{"@xml:lang":"sl","#text":"Univerza v Mariboru, Fakulteta za elektrotehniko računalništvo in informatiko"},"edm:object":{"@rdf:resource":"http://www.dlib.si/streamdb/URN:NBN:SI:DOC-433SHMIQ/maxi/edm"},"edm:isShownAt":{"@rdf:resource":"http://www.dlib.si/details/URN:NBN:SI:DOC-433SHMIQ"}}}}