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Procedura za definisanje orijentacije end-efektora koji vrši ravno kretanje u robotskim aplikacijama
Procedure for definition of end-effector orientation in planar surfaces robot applications
dc.creator | Vidaković, Jelena | |
dc.creator | Kvrgić, Vladimir | |
dc.creator | Lazarević, Mihailo | |
dc.creator | Dimić, Zoran | |
dc.creator | Mitrović, Stefan M. | |
dc.date.accessioned | 2022-09-19T18:06:09Z | |
dc.date.available | 2022-09-19T18:06:09Z | |
dc.date.issued | 2017 | |
dc.identifier.issn | 0040-2176 | |
dc.identifier.uri | https://machinery.mas.bg.ac.rs/handle/123456789/2507 | |
dc.description.abstract | Razvoj moćnih metoda za programiranje robota koje su ujedno i korisnički prilagođene je tema značajnih istraživanja u robotskoj zajednici. Radi olakšavanja programiranja robota, pojavljuje se ideja o razvoju standardnih procedura za programiranje najčešće prisutnih robotskih zadataka, a koje se mogu univerzalno lako upotrebiti kao gotov deo (ready-made) korisničkog programa. Važna klasa aplikacija industrijskih robota podrazumeva kretanje hvatača (end-effector) u paralelnim ravnima. U ovom radu je prikazan razvoj procedure jezika za programiranje robota koja služi za određivanje normale ravni objekta u odnosu na koordinatni sistem od značaja, kao i osnova procedure za automatizovani postupak programiranja orijentacije hvatača u odnosu na ravan objekta. Ova procedura se može koristiti kao integralni deo task oriented metoda programiranja robota, a takođe kao i procedura eksplicitnog robotskog programskog jezika, i ilustrovana je kroz praktični primer na robotu Lola 15. | sr |
dc.description.abstract | Design of user-friendly and at the same time powerful robot programming methods is the subject of significant efforts undertaken by the international robotics community. For the purpose of facilitating robot programming, with regard to the most common present-day applications in industry, it would be useful to develop programming procedures for frequently used manipulator tasks which could be easily implemented and used as ready-made application software. Important class of industrial robot applications involves end-effector trajectories in planar surfaces. Development of robot programming language procedure intended for determination of object plane normal with respect to frame of interest, as well as programming of end-effector orientation is presented in this paper. This procedure can be used as integral part of task oriented robot programing applications as well as a procedure for explicit programming languages, and it is illustrated in practical example with the robot Lola 15. | en |
dc.publisher | Savez inženjera i tehničara Srbije, Beograd | |
dc.relation | info:eu-repo/grantAgreement/MESTD/Technological Development (TD or TR)/35023/RS// | |
dc.relation | info:eu-repo/grantAgreement/MESTD/Technological Development (TD or TR)/35006/RS// | |
dc.rights | openAccess | |
dc.rights.uri | https://creativecommons.org/licenses/by/4.0/ | |
dc.source | Tehnika | |
dc.subject | ravno kretanje | sr |
dc.subject | programiranje robota | sr |
dc.subject | orijentacija | sr |
dc.subject | robot programming | en |
dc.subject | robot planar applications | en |
dc.subject | orientation | en |
dc.title | Procedura za definisanje orijentacije end-efektora koji vrši ravno kretanje u robotskim aplikacijama | sr |
dc.title | Procedure for definition of end-effector orientation in planar surfaces robot applications | en |
dc.type | article | |
dc.rights.license | BY | |
dc.citation.epage | 851 | |
dc.citation.issue | 6 | |
dc.citation.other | 72(6): 845-851 | |
dc.citation.rank | M51 | |
dc.citation.spage | 845 | |
dc.citation.volume | 72 | |
dc.identifier.doi | 10.5937/tehnika1706845V | |
dc.identifier.fulltext | http://machinery.mas.bg.ac.rs/bitstream/id/1246/2504.pdf | |
dc.type.version | publishedVersion |