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undergraduate thesis
Kinematika robota ABB IRB2600 robota sa šest stupnjeva slobode gibanja
Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing, 2018. urn:nbn:hr:168:592134
Ratković, Ivan
University of Zagreb
Faculty of Electrical Engineering and Computing

Institutional repository: FER Repository

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Ratković, I. (2018). Kinematika robota ABB IRB2600 robota sa šest stupnjeva slobode gibanja (Undergraduate thesis). Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing. Retrieved from https://urn.nsk.hr/urn:nbn:hr:168:592134

Ratković, Ivan. "Kinematika robota ABB IRB2600 robota sa šest stupnjeva slobode gibanja." Undergraduate thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2018. https://urn.nsk.hr/urn:nbn:hr:168:592134

Ratković, Ivan. "Kinematika robota ABB IRB2600 robota sa šest stupnjeva slobode gibanja." Undergraduate thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2018. https://urn.nsk.hr/urn:nbn:hr:168:592134

Ratković, I. (2018). 'Kinematika robota ABB IRB2600 robota sa šest stupnjeva slobode gibanja', Undergraduate thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, accessed 17 July 2024, https://urn.nsk.hr/urn:nbn:hr:168:592134

Ratković I. Kinematika robota ABB IRB2600 robota sa šest stupnjeva slobode gibanja [Undergraduate thesis]. Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing; 2018 [cited 2024 July 17] Available at: https://urn.nsk.hr/urn:nbn:hr:168:592134

I. Ratković, "Kinematika robota ABB IRB2600 robota sa šest stupnjeva slobode gibanja", Undergraduate thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, Zagreb, 2018. Available at: https://urn.nsk.hr/urn:nbn:hr:168:592134

Metadata
TitleKinematika robota ABB IRB2600 robota sa šest stupnjeva slobode gibanja
Title (english)Kinematics of 6DOF Robot ABB IRB2600
AuthorIvan Ratković
MentorZdenko Kovačić (mentor)
Committee memberZdenko Kovačić (predsjednik povjerenstva)
Committee memberGoran Vasiljević (član povjerenstva)
Committee memberAnte Zglav (član povjerenstva)
GranterUniversity of Zagreb
Faculty of Electrical Engineering and Computing
Zagreb
Defense date and country2018-07-13, Croatia
Scientific / art field,
discipline and subdiscipline		TECHNICAL SCIENCES
Electrical Engineering
Abstract
Robot ABB IRB2600 je robot sa šest rotacijskih zglobova i ima široku primjenu u industriji. Upravljanje takvim robotima nije jednostavno. Kako bi se ostvarilo upravljanje potrebno je napraviti direktnu i inverznu kinematiku robota. Direktna kinematika je jednostavna jer Denavit i Hartenberg postupak daje sustavno rješenje. Inverzna kinematika nema sustavan postupak pa postoji više metoda. Inverzna analitička kinematika daje 8 rješenja, ali to nisu sva pa je potreban i numerički postupak. Numerički postupak ima mnogo metoda jer svaka metoda ima svoje prednosti i mane. Numerička metoda daje samo jedno rješenje. Napravljene su 3 metode inverzne numeričke kinematike: inverzni Jacobijan, pseudo inverzni Jacobijan i pseudo inverzni Jakobijan s optimizacijskim kriterijem. Metode daju slične rezultate koji dosta ovise i o početnim i o željenim konfiguracijama robota te o samim postavkama parametara u metodi.
Abstract (english)
ABB IRB2600 robot is robot with six rotational joints and has wide industrial application. Control of the robot is not simple. Definition of direct and inverse kinematics is needed to achieve control. Direct kinematics are not complicated because Denavit and Hartenberg procedure give systematic solution. Inverse kinematics do not have systematic solution and that is why there are many different procedures. Inverse analytical kinematics give 8 solutions, but there are more, so numerical procedures are also needed. Numerical procedures have many methods with different advantages and faults. Numerical method gives only one solution. Three methods of inverse numerical kinematics are tested: inverse Jacobian, pseudoinverse Jacobian and pseudoinverse Jacobian with explicit optimization criterion. Methods give similar solutions. Solutions are dependent on initial and ending configurations of the robot and also on initial parameters of the method.
Keywords
Keywords (english)
Languagecroatian
URN:NBNurn:nbn:hr:168:592134
Study programmeTitle: Electrical Engineering and Information Technology
Study programme type: university
Study level: undergraduate
Academic / professional title: sveučilišni/a prvostupnik/ prvostupnica (baccalaureus/baccalaurea) inženjer/inženjerka elektrotehnike i informacijske tehnologije (sveučilišni/a prvostupnik/ prvostupnica (baccalaureus/baccalaurea) inženjer/inženjerka elektrotehnike i informacijske tehnologije)
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File originBorn digital
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Created on2019-03-14 00:22:35