پديد آورنده :
اميني، حبيب
عنوان :
طراحي و پياده سازي كنترل كننده فازي سيستم روبات- دوربين
مقطع تحصيلي :
كارشناسي ارشد
محل تحصيل :
اصفهان: دانشگاه صنعتي اصفهان، دانشكده برق و كامپيوتر
صفحه شمار :
ده، 119، [I] ص.: مصور، جدول، نمودار
استاد راهنما :
فريد شيخ الاسلام
توصيفگر ها :
پارامترهاي FLC , سينماتيك،ديناميك،روبات , شكل موجها , سنتز كنترل كننده
تاريخ ورود اطلاعات :
1396/08/29
رشته تحصيلي :
برق و كامپيوتر
دانشكده :
مهندسي برق و كامپيوتر
چكيده فارسي :
به فارسي و انگليسي : قابل رويت در نسخه ديجيتالي
چكيده انگليسي :
AbstractToday robots in industry have been used commonly Different kinds of robots areused for various jobs One of main issues in using robots is controller type forcontrolling rout and direction of Robot According to various and uncertainparameters in dynamic equations relevant to robots intelligent controllers to controlrobots are used Since fuzzy logic controller is one of intelligent controller this kindof controller to control robot has been used In this thesis robot camera system will be studied This system is made up ofcamera that can be moved in two directions by robot drive system It can be used inconference halls and there is the capability to be used in closed circuit cameras andcontrolling required limits Due to uncertain parameters in this system model and alsorelative complexity of system to control the direction of camera that can bedetermined by robot drive fuzzy logic controller has been used Using fuzzy logiccontroller is one of effective methods of control for intricate systems with uncertainparameters After thorough understanding of the system fuzzy logic controller isdesigned based on the structure of the system and the result of using fuzzy logiccontroller in robot camera system will be studied Then designed fuzzy logiccontroller is simulated by vhdl that is used for planning FPGA hardware The resultof the simulation of program shown and finally the simulated controller issynthesized and implemented cJ t 1Jr I # 1 u J V U i1f IJ tQ
استاد راهنما :
فريد شيخ الاسلام
