{"id":7586,"date":"2021-05-17T19:49:30","date_gmt":"2021-05-17T19:49:30","guid":{"rendered":"http:\/\/fornextcobot.etf.bg.ac.rs\/sr\/naslovna\/?p=7586"},"modified":"2022-07-03T18:07:31","modified_gmt":"2022-07-03T18:07:31","slug":"video-materijal","status":"publish","type":"post","link":"https:\/\/fornextcobot.etf.bg.ac.rs\/sr\/naslovna\/2021\/05\/17\/video-materijal\/","title":{"rendered":"Video &#8211; primena algoritma za oblikovanje Kartezijanske krutosti"},"content":{"rendered":"<div class=\"wpb-content-wrapper\"><p>[vc_row][vc_column][vc_video link=&#8221;https:\/\/www.youtube.com\/watch?v=bDURZxQ2LAE&#8221; align=&#8221;center&#8221;][\/vc_column][\/vc_row][vc_row][vc_column][vc_column_text]U skladu sa aktivnostima na tre\u0107em radnom zadatku projekta ForNextCobot, video ilustruje primenu algoritma za oblikovanje Kartezijanske krutosti (krutost u Dekartovom koordinatnom sistemu) zavr\u0161nog ure\u0111aja robota.<\/p>\n<p>Krutost je oblikovana kori\u0161\u0107enjem kinematske redundanse robota na primeru \u201cPeg in hole\u201d zadatka. Prilikom izvr\u0161avanja \u201cPeg in hole\u201d zadatka u fazama ubacivanja i izvla\u010denja klina iz proreza na kalupu neophodno je obezbediti da u smeru kretanja robot bude kru\u0107i, a u bo\u010dnim pravcima mek (popustljiv), da bi se smanjila sila interakcije (frikcije) koje mogu da dovedu do o\u0161te\u0107enja ili nepravilno izvr\u0161enog zadatka.<\/p>\n<p>Razvijeni algoritam ima dva zadatka: prvi (primarni) \u2013 da obezbedi pra\u0107enje zadate trajekorije zavr\u0161nog ure\u0111aja; i drugi (sekundarni) da iskoristi redundansu za oblikovanje krutosti zavr\u0161nog ure\u0111aja. Mogu\u0107nost oblikovanja krutosti je ograni\u010dena stepenom redundanse i konfiguracijom robotau prostoru. Prikazana su dva scenarija, kada se krutost u pravcu minimizira i kada se maksimizira.<\/p>\n<p>[\/vc_column_text][\/vc_column][\/vc_row]<\/p>\n<\/div>","protected":false},"excerpt":{"rendered":"<p>[vc_row][vc_column][vc_video link=&#8221;https:\/\/www.youtube.com\/watch?v=bDURZxQ2LAE&#8221; align=&#8221;center&#8221;][\/vc_column][\/vc_row][vc_row][vc_column][vc_column_text]U skladu sa aktivnostima na tre\u0107em radnom zadatku projekta ForNextCobot, video ilustruje primenu algoritma za oblikovanje Kartezijanske krutosti (krutost u Dekartovom koordinatnom sistemu) zavr\u0161nog ure\u0111aja robota. Krutost je oblikovana kori\u0161\u0107enjem kinematske redundanse robota na primeru \u201cPeg in hole\u201d zadatka. Prilikom izvr\u0161avanja \u201cPeg in hole\u201d zadatka u fazama ubacivanja i izvla\u010denja klina iz proreza<br \/><a href=\"https:\/\/fornextcobot.etf.bg.ac.rs\/sr\/naslovna\/2021\/05\/17\/video-materijal\/\" class=\"more\">Read more<\/a><\/p>\n","protected":false},"author":1,"featured_media":7866,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[179],"tags":[],"yoast_head":"<!-- This site is optimized with the Yoast SEO plugin v21.5 - https:\/\/yoast.com\/wordpress\/plugins\/seo\/ -->\n<title>Video - primena algoritma za oblikovanje Kartezijanske krutosti -<\/title>\n<meta name=\"description\" content=\"video ilustruje primenu algoritma za oblikovanje Kartezijanske krutosti (krutost u Dekartovom koordinatnom sistemu) zavr\u0161nog ure\u0111aja robota.\" \/>\n<meta name=\"robots\" content=\"index, follow, max-snippet:-1, max-image-preview:large, max-video-preview:-1\" \/>\n<link rel=\"canonical\" href=\"https:\/\/fornextcobot.etf.bg.ac.rs\/sr\/naslovna\/2021\/05\/17\/video-materijal\/\" \/>\n<meta property=\"og:locale\" content=\"en_US\" \/>\n<meta property=\"og:type\" content=\"article\" \/>\n<meta property=\"og:title\" content=\"Video - 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