3285

2988

كارشناسي ارشد

طراحي كاربردي

اصفهان: دانشگاه صنعتي اصفهان، دانشكده مكانيك

1385

ده، 154، [II] ص.: مصور، جدول، نمودار

مصطفي غيور

حسن موسوي

مهدي كشميري، محسن اصفهانيان

1396/10/27

كتابنامه

مكانيك

مهندسي مكانيك

ID2988

به فارسي و انگليسي : قابل رويت در نسخه ديجيتالي

Abstract In this project we present an approach to decoupled force position control of the end effector along the same direction for redundant robots and an approach tononholonomic cart pushing with mobile manipulators The mobile manipulator isconsidered as redundant robot and a unified dynamic model for an integrated mobileplatform and on board manipulator is developed The dynamic model is decoupled andlinearized using the nonlinear feedback technique in a unified frame Combining theevent based planning and control method with optimization of robot arm a task levelaction control is designed and online kinematic redundancy resolution scheme isdeveloped The system is stable during normal operation as well as at the occurrence ofunexpected obstacles and system uncertainty In addition explicit force position controlalong the same task dirction for redundant robot is proposed The kinematic redundancyof mobile manipulators enables independent control of force and position along the sametask directions To verify the decupled force position scheme an integrated taskplanning and control approach further proposed for the mobile manipulator to completecomplicated tasks by regulating its output force A cart pushing task which requires bothforce and position control along the same task direction is discussed The cartmanipulation task fully integrates trajectory and force planning of the cart andplanning and control of the mobile manipulators The approaches have been simulatedon a mobile manipulator consisting of a 2DOF differential driven platform and 3DOFplanner arm and mobile manipulator consisting of a 3DOF omnidirectional platformand 3DOF planner arm

مصطفي غيور

حسن موسوي

مهدي كشميري، محسن اصفهانيان