hrcak mascot   Srce   HID

Izvorni znanstveni članak

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

Puni tekst: engleski, pdf (4 MB) str. 117-124 preuzimanja: 263* citiraj
APA 6th Edition
Kržič, P., Pušavec, F. i Kopač, J. (2013). Kinematic constraints and offline programming in robotic machining applications. Tehnički vjesnik, 20 (1), 117-124. Preuzeto s 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, br. 1, 2013, str. 117-124. https://hrcak.srce.hr/97488. Citirano 15.10.2019.
Chicago 17th Edition
Kržič, Primož, Franci Pušavec i Janez Kopač. "Kinematic constraints and offline programming in robotic machining applications." Tehnički vjesnik 20, br. 1 (2013): 117-124. https://hrcak.srce.hr/97488
Harvard
Kržič, P., Pušavec, F., i Kopač, J. (2013). 'Kinematic constraints and offline programming in robotic machining applications', Tehnički vjesnik, 20(1), str. 117-124. Preuzeto s: https://hrcak.srce.hr/97488 (Datum pristupa: 15.10.2019.)
Vancouver
Kržič P, Pušavec F, Kopač J. Kinematic constraints and offline programming in robotic machining applications. Tehnički vjesnik [Internet]. 2013 [pristupljeno 15.10.2019.];20(1):117-124. Dostupno na: https://hrcak.srce.hr/97488
IEEE
P. Kržič, F. Pušavec i J. Kopač, "Kinematic constraints and offline programming in robotic machining applications", Tehnički vjesnik, vol.20, br. 1, str. 117-124, 2013. [Online]. Dostupno na: https://hrcak.srce.hr/97488. [Citirano: 15.10.2019.]
Puni tekst: hrvatski, pdf (4 MB) str. 117-124 preuzimanja: 648* citiraj
APA 6th Edition
Kržič, P., Pušavec, F. i Kopač, J. (2013). Kinematička ograničenja i izvanmrežno programiranje kod robotskih obradnih programa. Tehnički vjesnik, 20 (1), 117-124. Preuzeto s 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, br. 1, 2013, str. 117-124. https://hrcak.srce.hr/97488. Citirano 15.10.2019.
Chicago 17th Edition
Kržič, Primož, Franci Pušavec i Janez Kopač. "Kinematička ograničenja i izvanmrežno programiranje kod robotskih obradnih programa." Tehnički vjesnik 20, br. 1 (2013): 117-124. https://hrcak.srce.hr/97488
Harvard
Kržič, P., Pušavec, F., i Kopač, J. (2013). 'Kinematička ograničenja i izvanmrežno programiranje kod robotskih obradnih programa', Tehnički vjesnik, 20(1), str. 117-124. Preuzeto s: https://hrcak.srce.hr/97488 (Datum pristupa: 15.10.2019.)
Vancouver
Kržič P, Pušavec F, Kopač J. Kinematička ograničenja i izvanmrežno programiranje kod robotskih obradnih programa. Tehnički vjesnik [Internet]. 2013 [pristupljeno 15.10.2019.];20(1):117-124. Dostupno na: https://hrcak.srce.hr/97488
IEEE
P. Kržič, F. Pušavec i J. Kopač, "Kinematička ograničenja i izvanmrežno programiranje kod robotskih obradnih programa", Tehnički vjesnik, vol.20, br. 1, str. 117-124, 2013. [Online]. Dostupno na: https://hrcak.srce.hr/97488. [Citirano: 15.10.2019.]

Sažetak
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.

Ključne riječi
constraint, industrial robot; kinematic; machining; offline programming

Hrčak ID: 97488

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

[hrvatski]

Posjeta: 1.130 *