dc.contributor | Rašuo, Boško | |
dc.contributor | Stevanović, Vladimir | |
dc.contributor | Sedmak, Simon | |
dc.creator | Slavković, Nikola | |
dc.creator | Živanović, Saša | |
dc.creator | Vorkapić, Nikola | |
dc.creator | Dimić, Zoran | |
dc.date.accessioned | 2023-02-25T18:22:17Z | |
dc.date.available | 2023-02-25T18:22:17Z | |
dc.date.issued | 2022 | |
dc.identifier.issn | 1451-2092 | |
dc.identifier.uri | https://machinery.mas.bg.ac.rs/handle/123456789/4621 | |
dc.description.abstract | This paper presents an approach for developing the programming and offline
simulation systems for low-cost industrial robots in the
MatLab/Simulink environment. The approach is presented in the example
of a virtual model of a 4-axis robot with hybrid kinematics intended for
manipulation tasks. The industrial robot with hybrid kinematics consists of
the well-known 5R planar parallel mechanism to which two serial axes
have been added. The programming system developed in a MatLab
environment involves generating G-code programs based on given pick
and place points. The virtual model included in the simulation system is
configured in the Simulink environment based on the CAD model of the
robot and its kinematic structure. The kinematic model and the inverse
kinematic problem have to be included in the virtual model to realize the
motion of the virtual robot. The system of programming and simulation has
been verified through several examples that include object manipulation to
perform various tasks. | sr |
dc.language.iso | en | sr |
dc.publisher | Belgrade : Faculty of Mechanical Engineering | sr |
dc.relation | info:eu-repo/grantAgreement/MESTD/Technological Development (TD or TR)/35022/RS// | sr |
dc.relation | info:eu-repo/grantAgreement/ScienceFundRS/AI/6523109/RS// | sr |
dc.rights | openAccess | sr |
dc.source | FME Transactions | sr |
dc.subject | kinematics | sr |
dc.subject | programming | sr |
dc.subject | virtual model | sr |
dc.subject | MatLab/Simulink | sr |
dc.subject | CAD system | sr |
dc.title | Development of the Programming and Simulation System of 4-axis Robot with Hybrid Kinematic | sr |
dc.type | article | sr |
dc.rights.license | ARR | sr |
dc.citation.epage | 411 | |
dc.citation.issue | 3 | |
dc.citation.rank | M24 | |
dc.citation.spage | 403 | |
dc.citation.volume | 50 | |
dc.identifier.doi | 10.5937/fme2203403S | |
dc.identifier.fulltext | http://machinery.mas.bg.ac.rs/bitstream/id/11122/FME_manuscript_Slavkovic.pdf | |
dc.type.version | publishedVersion | sr |