4376

4124

كارشناسي ارشد

طراحي كاربردي

اصفهان: دانشگاه صنعتي اصفهان، دانشكده مكانيك

1387

نه،108، [II] ص.:.مصور،جدول،نمودار

ص.ع.به: فارسي و انگليسي

مصطفي غيور

20/12/1387

محمد مشايخي، محمد جعفر صديق

مهندسي مكانيك

ID4124

به فارسي و انگليسي :قابل رويت در نسخه ديجيتال

AbstractIn this research we present an approach to geometrical position control of the head point of hyperredundant snake robot to the desired position The snake robot is considered as redundant robot The dynamic model is decoupled and linearized In path designation a search method is used tooptimize some parameters such as kinetic energy time integral of kinetic energy work ofactuators for doing the task and time of passing a certain part of the path In the time base controlthe error function is computed from position of the robot to a desired target line and a PIDcontrol unit is designed to minimize the error by varying a parameter of the serpenoied curve Using the event base planning and control method and the path optimization a task level actioncontrol is designed and online kinematic redundancy resolution scheme is developed The systemis stable during normal operation as well as at the occurrence of unexpected obstacles and systemuncertainty In addition a central pattern generator is used to develop the angle of links referringto the first link angle The approaches have been simulated on a 15 DOF snake like robot toarrest a moving target point Also some kinematic approaches to 8 2 DOF robots are simulatedand compared to each other Key words Snake Robot Redundancy Path Designation Time Base Control Event BaseControl Central Path Generator CPG

مصطفي غيور

محمد مشايخي، محمد جعفر صديق