2974

2836

كارشناسي ارشد

طراحي كاربردي

اصفهان: دانشگاه صنعتي اصفهان، دانشكده مكانيك

1384

نه، 100، [II]ص.: مصور، جدول، شكل، نمودار

مهدي كشميري

محمدجعفرصديق

مصطفي غيور، محمدرضا احمدزاده

1396/10/26

كتابنامه

مكانيك

مهندسي مكانيك

ID2836

به فارسي و انگليسي: قابل رويت در نسخه ديجيتالي

ABSTRACT Kinematics redundancy gives more capabilities to robotic systems because of themultiple solutions obtainable in the joint space in order to accomplish a unique task in theworkspace One method of selection amongst the set of solutions is to choose a suitablecriterion and to optimize it while the kinematics equations are solved with In this research the problem of path planning in the joint space of redundant robots with optimization ofkinematics and dynamics indices in the presence of obstacle or without has beenaccomplishedusing the genetic algorithm in order to find the global optimum To spare the problem the capability of optimization by genetic algorithm we transform this abstract optimization problem to a parameter one by parsing it with the help of discrete unknown functions using two different methods physical and mathematical In order to apply the kinemati cs constraints into the optimization problem two methods have also been used The first one consists of using the analytic solution of the kinematics equationsto reduce the dimension of the problem transforming the constrained optimiz ation process to an unconstrained one In the second method by considering thecomplete set of redundant degrees of freedom the kinematics constraints are introduced inthe form of penalty functions addedto the main index of optimization The numerical results and the genetic algorithm diagrams and the different methodspresented have been employed on a cooperative system of robots having actuator andkinematics redundancy In order to check up the method it has been compared for a special caseto its analyticsolution d Ii A 1 iJ Lf L I IJ

مهدي كشميري

محمدجعفرصديق

مصطفي غيور، محمدرضا احمدزاده