{"?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-HNKV8WVP/623cc329-2f95-42a7-8f32-3bc0519260af/PDF","dcterms:extent":"1132 KB"},{"@rdf:about":"http://www.dlib.si/stream/URN:NBN:SI:DOC-HNKV8WVP/4d7a0a0d-b588-4dbd-bf8e-d4730e554fe5/TEXT","dcterms:extent":"34 KB"}],"edm:TimeSpan":{"@rdf:about":"1999-2025","edm:begin":{"@xml:lang":"en","#text":"1999"},"edm:end":{"@xml:lang":"en","#text":"2025"}},"edm:ProvidedCHO":{"@rdf:about":"URN:NBN:SI:DOC-HNKV8WVP","dcterms:isPartOf":[{"@rdf:resource":"https://www.dlib.si/details/URN:NBN:SI:spr-6QOUKQ9A"},{"@xml:lang":"sl","#text":"Strojniški vestnik"}],"dcterms:issued":"2014","dc:creator":"Boryga, Marek","dc:format":[{"@xml:lang":"sl","#text":"številka:12"},{"@xml:lang":"sl","#text":"letnik:60"},{"@xml:lang":"sl","#text":"str. 804-814, SI 149"}],"dc:identifier":["ISSN:0039-2480","COBISSID:13819419","URN:URN:NBN:SI:doc-HNKV8WVP"],"dc:language":"en","dc:publisher":{"@xml:lang":"sl","#text":"Zveza strojnih inženirjev in tehnikov Slovenije et al."},"dc:subject":[{"@xml:lang":"sl","#text":"antropomorfni manipulator"},{"@xml:lang":"sl","#text":"kartezični manipulatorji"},{"@xml:lang":"sl","#text":"manipulatorji SCARA"},{"@xml:lang":"sl","#text":"načrtovanje trajektorije"},{"@xml:lang":"sl","#text":"ostri ovinki"},{"@xml:lang":"sl","#text":"polinomski profil pospeška"},{"@xml:lang":"sl","#text":"pot z zanko"}],"dcterms:temporal":{"@rdf:resource":"1999-2025"},"dc:title":{"@xml:lang":"sl","#text":"Trajectory planning of an end-effector for path with loop|"},"dc:description":[{"@xml:lang":"sl","#text":"This paper presents an algorithm for rectilinear-arc trajectory planning whose path is composed of two rectilinear segments connected with a loop-shaped arc. The algorithm can be used in solutions with high speed cornering applications. During the realization of the given trajectory, the end-effector passed through the corner twice and the time difference is, simultaneously, the time of loop tracking. On the rectilinear segments, end-effector acceleration was described by a 7th degree polynomial, whereas the velocity while moving through a loop was a constant value. The results of the trajectory planning are presented as courses of displacements, speeds and accelerations of the end-effector and displacements, speeds and accelerations in kinematic pairs of the three manipulators"},{"@xml:lang":"sl","#text":"Članek podaja nov pristop k načrtovanju gibanja orodja po poti s t. i. ostrim ovinkom. Predstavljeni algoritem samodejno usklajuje dve bistveni zahtevi: glajenje trajektorije in gibanje orodja v ostrem ovinku. Rešitev za istočasno glajenje trajektorije in prehod skozi ovinek je uporaba zanke. Za visokonatančno preslikavo trajektorij in polno izrabo dinamičnih zmogljivosti stroja je treba ustvariti gladke trajektorije z minimalnimi sunki pospeška in hitrosti. Pri načrtovanju gibanja orodja po poti s t. i. ostrim ovinkom se najpogosteje uporablja pristop glajenja ovinka, s katerim se izognemo prehodu orodja skozi oster ovinek"}],"edm:type":"TEXT","dc:type":[{"@xml:lang":"sl","#text":"znanstveno časopisje"},{"@xml:lang":"en","#text":"journals"},{"@rdf:resource":"http://www.wikidata.org/entity/Q361785"}]},"ore:Aggregation":{"@rdf:about":"http://www.dlib.si/?URN=URN:NBN:SI:DOC-HNKV8WVP","edm:aggregatedCHO":{"@rdf:resource":"URN:NBN:SI:DOC-HNKV8WVP"},"edm:isShownBy":{"@rdf:resource":"http://www.dlib.si/stream/URN:NBN:SI:DOC-HNKV8WVP/623cc329-2f95-42a7-8f32-3bc0519260af/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 Ljubljani, Fakulteta za strojništvo"},"edm:object":{"@rdf:resource":"http://www.dlib.si/streamdb/URN:NBN:SI:DOC-HNKV8WVP/maxi/edm"},"edm:isShownAt":{"@rdf:resource":"http://www.dlib.si/details/URN:NBN:SI:DOC-HNKV8WVP"}}}}