پديد آورنده :
عامري، منصور
عنوان :
اصلاح بر خط مسير و كنترل ربات دوپا با هدف عبور از سطوح ناهموار ناشناخته
مقطع تحصيلي :
كارشناسي ارشد
محل تحصيل :
اصفهان: دانشگاه صنعتي اصفهان، دانشكده برق و كامپيوتر
صفحه شمار :
دوازده،82 ص.: مصور، جدول، عكس(رنگي)، نمودار
يادداشت :
ص. ع. به فارسي و انگليسي
استاد راهنما :
فريد شيخ الاسلام، بهرام كريمي
توصيفگر ها :
اصلاح مسير , سنسور نيرو , روش فازي تطبيقي , اغتشاش محيط
استاد داور :
جواد عسگري، ايمان ايزدي
تاريخ ورود اطلاعات :
1396/01/29
رشته تحصيلي :
برق و كامپيوتر
دانشكده :
مهندسي برق و كامپيوتر
چكيده انگليسي :
Trajectory Modification and Control of Biped Robots for Passing Through Unknown Uneven Terrains Mansour Ameri m amery@ec iut ac ir March 08 2017 Department of Electrical and Computer Engineering Isfahan University of Technology Isfahan 84156 83111 Iran Degree M Sc Language Farsi Supervisor Prof Farid Sheikholeslam sheikh@cc iut ac ir Abstract Bipedal robots due to similar physical and motion structure with a human body and the applications that can be imag ined for them due to this similarity have been focused by many researchers and research teams around the world In theconstruction and implementation of bipedal robots different fields of engineering including mechanical design electronicsin order to set up different communication processing and visual parts and control to maintain stability and balance areused Bipedal robot control can be divided into two parts The first part is aimed at optimum tracking for each joint usinga suitable controller and the second part is to modify the initial trajectory to maintain the stability of the robot The firstpart is called low level control and the second part is known as high level control In this thesis first the bipedal robot isdiscussed with dynamic equations and then the computed torque and fuzzy supervisory controllers are designed to selectthe best performance in the presence of disturbances The considered disturbance is a non modeled bump on the path of therobot so that the robot will be able to pass it without modifying trajectory and the performance of the controllers is comparedin passing this bump Then the trajectory modifying methods based on the workspace using force sensors and fuzzy systemsis developed by using this method the robot will be able to pass the bumps with unknown height or the depth Also thedirect adaptive fuzzy method is applied to remove unwanted vibrations of the robot s upper body angle using the hip jointof support leg and online ideal trajectory modification Key Words trajectory modification force sensors direct adaptive fuzzy method disturbance
استاد راهنما :
فريد شيخ الاسلام، بهرام كريمي
استاد داور :
جواد عسگري، ايمان ايزدي
