عنوان :
كنترل وفقي بازوي ربات در حضور نامعيني ها و اختلال نيروي خارجي نامشخص
گرايش تحصيلي :
مهندسي برق
محل تحصيل :
اصفهان: دانشگاه صنعتي اصفهان، دانشكده برق و كامپيوتر
صفحه شمار :
شانزده، 156، [II]ص.: مصور، نمودار
يادداشت :
ص. ع. به فارسي و انگليسي
استاد راهنما :
فريد شيخ الاسلام، مهدي كشميري
استاد مشاور :
علي خاكي صديق، حميد تقي راد
توصيفگر ها :
ديناميك هاي اويلر - لاگرانژ , پارامترهاي اينرسي
تاريخ نمايه سازي :
12/2/86
استاد داور :
علي اكبر موسويان، اميرحسين دوايي مركزي، محمدجعفر صديق، سعيد حسين نيا
تاريخ ورود اطلاعات :
1396/02/31
رشته تحصيلي :
برق و كامپيوتر
دانشكده :
مهندسي برق و كامپيوتر
كد ايرانداك :
ID169 دكتري
چكيده فارسي :
به فارسي و انگليسي: قابل رويت در نسخه ديجيتال
چكيده انگليسي :
ABSTRACTIn this dissertation an adaptive strategy has been presented to reject unknown forcedisturbances exerted on robot manipulators In this strategy the feedback of jointpositions and velocities and the feedforward of force have been used to control thesystem and reject the force disturbances Position and velocity signals have beensupplied by position and velocity sensors However due to high cost of force sensor andits technical application problems force signal has been extracted by an adaptive forceestimator Based on this estimator adaptive algorithms for robot manipulator controlhave been proposed such that the control systems are able to reject force disturbances intheir corresponding cases and consequently robot can track the desired motiontrajectory Proper algorithms have been presented for the case that robot dynamics arecompletely known and also the case that robot inertia parameters are unknown In eachof these cases type domain and conditions of the stability of the closed loop systemhave been analyzed and proved Since unstructured uncertainty can significantly diminish the performance andstability of the system an adaptive robust control algorithm has been proposed to makethe control system robust to this type of uncertainty Uniform stability of this algorithmhas been explained and proved through a theorem Global asymptotic stability GUAS and uniform ultimate boundedness UUB of tracking error have been guaranteed forsome special cases To show the suitable performance and effectiveness of the proposed approaches andalso correctness of the presented theoretical topics in each case some simulationsperformed on a typical robot manipulator have been presented
استاد راهنما :
فريد شيخ الاسلام، مهدي كشميري
استاد مشاور :
علي خاكي صديق، حميد تقي راد
استاد داور :
علي اكبر موسويان، اميرحسين دوايي مركزي، محمدجعفر صديق، سعيد حسين نيا
