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Original scientific paper

Kinematic constraints and offline programming in robotic machining applications

Primož Kržič ; University of Ljubljana, Faculty of Mechanical Engineering, Aškerčeva 6, 1000 Ljubljana, Slovenia
Franci Pušavec ; University of Ljubljana, Faculty of Mechanical Engineering, Aškerčeva 6, 1000 Ljubljana, Slovenia
Janez Kopač ; University of Ljubljana, Faculty of Mechanical Engineering, Aškerčeva 6, 1000 Ljubljana, Slovenia

Fulltext: english, pdf (4 MB) pages 117-124 downloads: 263* cite
APA 6th Edition
Kržič, P., Pušavec, F. & Kopač, J. (2013). Kinematic constraints and offline programming in robotic machining applications. Tehnički vjesnik, 20 (1), 117-124. Retrieved from https://hrcak.srce.hr/97488
MLA 8th Edition
Kržič, Primož, et al. "Kinematic constraints and offline programming in robotic machining applications." Tehnički vjesnik, vol. 20, no. 1, 2013, pp. 117-124. https://hrcak.srce.hr/97488. Accessed 24 Oct. 2019.
Chicago 17th Edition
Kržič, Primož, Franci Pušavec and Janez Kopač. "Kinematic constraints and offline programming in robotic machining applications." Tehnički vjesnik 20, no. 1 (2013): 117-124. https://hrcak.srce.hr/97488
Harvard
Kržič, P., Pušavec, F., and Kopač, J. (2013). 'Kinematic constraints and offline programming in robotic machining applications', Tehnički vjesnik, 20(1), pp. 117-124. Available at: https://hrcak.srce.hr/97488 (Accessed 24 October 2019)
Vancouver
Kržič P, Pušavec F, Kopač J. Kinematic constraints and offline programming in robotic machining applications. Tehnički vjesnik [Internet]. 2013 [cited 2019 October 24];20(1):117-124. Available from: https://hrcak.srce.hr/97488
IEEE
P. Kržič, F. Pušavec and J. Kopač, "Kinematic constraints and offline programming in robotic machining applications", Tehnički vjesnik, vol.20, no. 1, pp. 117-124, 2013. [Online]. Available: https://hrcak.srce.hr/97488. [Accessed: 24 October 2019]
Fulltext: croatian, pdf (4 MB) pages 117-124 downloads: 648* cite
APA 6th Edition
Kržič, P., Pušavec, F. & Kopač, J. (2013). Kinematička ograničenja i izvanmrežno programiranje kod robotskih obradnih programa. Tehnički vjesnik, 20 (1), 117-124. Retrieved from https://hrcak.srce.hr/97488
MLA 8th Edition
Kržič, Primož, et al. "Kinematička ograničenja i izvanmrežno programiranje kod robotskih obradnih programa." Tehnički vjesnik, vol. 20, no. 1, 2013, pp. 117-124. https://hrcak.srce.hr/97488. Accessed 24 Oct. 2019.
Chicago 17th Edition
Kržič, Primož, Franci Pušavec and Janez Kopač. "Kinematička ograničenja i izvanmrežno programiranje kod robotskih obradnih programa." Tehnički vjesnik 20, no. 1 (2013): 117-124. https://hrcak.srce.hr/97488
Harvard
Kržič, P., Pušavec, F., and Kopač, J. (2013). 'Kinematička ograničenja i izvanmrežno programiranje kod robotskih obradnih programa', Tehnički vjesnik, 20(1), pp. 117-124. Available at: https://hrcak.srce.hr/97488 (Accessed 24 October 2019)
Vancouver
Kržič P, Pušavec F, Kopač J. Kinematička ograničenja i izvanmrežno programiranje kod robotskih obradnih programa. Tehnički vjesnik [Internet]. 2013 [cited 2019 October 24];20(1):117-124. Available from: https://hrcak.srce.hr/97488
IEEE
P. Kržič, F. Pušavec and J. Kopač, "Kinematička ograničenja i izvanmrežno programiranje kod robotskih obradnih programa", Tehnički vjesnik, vol.20, no. 1, pp. 117-124, 2013. [Online]. Available: https://hrcak.srce.hr/97488. [Accessed: 24 October 2019]

Abstracts
Robotic machining applications are becoming more and more frequent in the world of industrial robots. However, their kinematic complexity still offers many challenges. This work presents an overview of kinematic constraints, which are important for the offline programming of industrial robots for the use in machining applications. The three possible solutions for overcoming kinematic constraints (end-effector rotation, part translation, and part rotation) are presented. The computer algorithm for avoiding such constraints was developed, programmed and tested with a case study. Results show that kinematic constraints can be automatically avoided by implementation of developed avoidance algorithm into the offline programming software for robotic machining.

Keywords
constraint, industrial robot; kinematic; machining; offline programming

Hrčak ID: 97488

URI
https://hrcak.srce.hr/97488

[croatian]

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