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dc.contributor.authorKot, Tomáš
dc.contributor.authorBobovský, Zdenko
dc.contributor.authorVysocký, Aleš
dc.contributor.authorKrys, Václav
dc.contributor.authorŠafařík, Jakub
dc.contributor.authorRužarovský, Roman
dc.date.accessioned2021-09-08T12:45:10Z
dc.date.available2021-09-08T12:45:10Z
dc.date.issued2021
dc.identifier.citationApplied Sciences. 2021, vol. 11, issue 12, art. no. 5398.cs
dc.identifier.issn2076-3417
dc.identifier.urihttp://hdl.handle.net/10084/145174
dc.description.abstractWe describe a method for robotic cell optimization by changing the placement of the robot manipulator within the cell in applications with a fixed end-point trajectory. The goal is to reduce the overall robot joint wear and to prevent uneven joint wear when one or several joints are stressed more than the other joints. Joint wear is approximated by calculating the integral of the mechanical work of each joint during the whole trajectory, which depends on the joint angular velocity and torque. The method relies on using a dynamic simulation for the evaluation of the torques and velocities in robot joints for individual robot positions. Verification of the method was performed using CoppeliaSim and a laboratory robotic cell with the collaborative robot UR3. The results confirmed that, with proper robot base placement, the overall wear of the joints of a robotic arm could be reduced from 22% to 53% depending on the trajectory.cs
dc.language.isoencs
dc.publisherMDPIcs
dc.relation.ispartofseriesApplied Sciencescs
dc.relation.urihttps://doi.org/10.3390/app11125398cs
dc.rights© 2021 by the authors. Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license.cs
dc.rights.urihttp://creativecommons.org/licenses/by/4.0/cs
dc.subjectrobotcs
dc.subjectmanipulatorcs
dc.subjectrobotized workplacecs
dc.subjectrobotic cellcs
dc.subjectoptimizationcs
dc.subjectwearcs
dc.titleMethod for robot manipulator joint wear reduction by finding the optimal robot placement in a robotic cellcs
dc.typearticlecs
dc.identifier.doi10.3390/app11125398
dc.rights.accessopenAccesscs
dc.type.versionpublishedVersioncs
dc.type.statusPeer-reviewedcs
dc.description.sourceWeb of Sciencecs
dc.description.volume11cs
dc.description.issue12cs
dc.description.firstpageart. no. 5398cs
dc.identifier.wos000665958300001


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© 2021 by the authors. Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license.
Except where otherwise noted, this item's license is described as © 2021 by the authors. Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license.