{"?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-N7V4HYOR/9f2f8936-c0f8-48c0-9f68-2b387e772e3c/PDF","dcterms:extent":"1503 KB"},{"@rdf:about":"http://www.dlib.si/stream/URN:NBN:SI:doc-N7V4HYOR/b7e27b9b-6d05-48d3-a4e6-a1b0ca97e30d/TEXT","dcterms:extent":"22 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-N7V4HYOR","dcterms:isPartOf":[{"@rdf:resource":"https://www.dlib.si/details/URN:NBN:SI:spr-6QOUKQ9A"},{"@xml:lang":"sl","#text":"Strojniški vestnik"}],"dcterms:issued":"2016","dc:creator":["Jezeršek, Matija","Kosler, Hubert","Možina, Janez","Pavlovčič, Urban"],"dc:format":[{"@xml:lang":"sl","#text":"letnik:62"},{"@xml:lang":"sl","#text":"številka:nr. 4"},{"@xml:lang":"sl","#text":"str. 207-212"}],"dc:identifier":["ISSN:0039-2480","COBISSID_HOST:14593819","URN:URN:NBN:SI:doc-N7V4HYOR"],"dc:language":"en","dc:publisher":{"@xml:lang":"sl","#text":"Zveza strojnih inženirjev in tehnikov Slovenije etc."},"dc:subject":[{"@xml:lang":"sl","#text":"adaptivne robotske obdelave"},{"@xml:lang":"sl","#text":"korekcije napake položaja"},{"@xml:lang":"sl","#text":"laserska triangulacija"},{"@xml:lang":"sl","#text":"lokalizacija"},{"@xml:lang":"sl","#text":"razigljevanje"}],"dcterms:temporal":{"@rdf:resource":"1999-2025"},"dc:title":{"@xml:lang":"sl","#text":"Adaptive robotic deburring of die-cast parts with position and orientation measurements using a 3D laser-triangulation sensor|"},"dc:description":[{"@xml:lang":"sl","#text":"A system for adaptive robotic deburring with a correction of the errors in workpiece positioning is presented. The correction is based on 3D measurements of the workpiece's surface and its registration to the target surface, measured on a reference workpiece. The surface measurement is performed with a laser-triangulation profilometer. The reference tool path is determined using robot teaching on the reference, already deburred, workpiece. The positioning errors of the currently processed workpiece are compensated by tool path adaptation in accordance with the registration results by means of rotation and translation. The experiments showed that the average precision of localization is 0.06 mm and the average bias between the true and measured values is 0.23 mm. The developed adaptive system is also applicable in other similar applications where it is difficult to ensure repeatable clamping of the workpiece"},{"@xml:lang":"sl","#text":"Nastanek igle pri ulitkih predstavlja velik problem, saj lahko poškoduje delavca in zmanjšuje kakovost samega izdelka. Ročno razigljevanje je dolgotrajen, zahteven in drag proces odstranjevanja materiala igle, zato je potreba po avtomatizaciji procesa očitna. Večina sistemov za robotsko razigljevanje temelji na premikanju obdelovanca z robotsko roko pod orodjem za razigljevanje. Pot robotske roke je običajno določena s postopkom robotskega učenja, kjer operater na referenčnem obdelovancu določi množico točk, prek katerih nato robot premika obdelovanec. Pri tem se predpostavlja, da so vsi nadaljnji obdelovanci enake oblike in se nahajajo na isti lokaciji. Medtem ko je prvi prepostavki pri razigljevanju ulitkov lahko zadostiti, je točen položaj obdelovanca odvisen predvsem od njegovega vpetja v robotsko roko. Običajen pristop je zagotovitev ponovljivega vpenjanja obdelovanca v robotsko roko, kar je v primeru ulitkov zelo težko zagotoviti. Drug pristop, ki je predstavljen v tem prispevku, pa temelji na adaptaciji poti robotske roke glede na izmerjen položaj trenutno vpetega obdelovanca"}],"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-N7V4HYOR","edm:aggregatedCHO":{"@rdf:resource":"URN:NBN:SI:doc-N7V4HYOR"},"edm:isShownBy":{"@rdf:resource":"http://www.dlib.si/stream/URN:NBN:SI:doc-N7V4HYOR/9f2f8936-c0f8-48c0-9f68-2b387e772e3c/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-N7V4HYOR/maxi/edm"},"edm:isShownAt":{"@rdf:resource":"http://www.dlib.si/details/URN:NBN:SI:doc-N7V4HYOR"}}}}