پديد آورنده :
همائي، هادي
عنوان :
طراحي مسير بهينه با هدف كاهش ارتعاشات در ربات هاي انعطاف پذير سري و همكار صفحه اي داراي درجات آزادي اضافه
مقطع تحصيلي :
كارشناسي ارشد
محل تحصيل :
اصفهان: دانشگاه صنعتي اصفهان، دانشكده مكانيك
صفحه شمار :
ده،[140]ص.: نمودار
يادداشت :
ص.ع.به فارسي و انگليسي
استاد راهنما :
مهدي كشميري
استاد مشاور :
مجتبي محزون، محمد جعفر صديق
توصيفگر ها :
بهينه سازي , سيستم هاي رباتيك
تاريخ نمايه سازي :
88/7/28
استاد داور :
حسن نحوي، مصطفي غيور، آرياالستي
كد ايرانداك :
ID256 دكتري
چكيده فارسي :
به فارسي و انگليسي: قابل رويت در نسخه ديجيتالي
چكيده انگليسي :
Formatted Font 12 pt Complex Script Font 12 pt Formatted Left 1 Right 1 Top 1 Bottom 1 Optimal Trajectory Planning for Minimum Vibration of Flexible Formatted Font 12 pt Redundant Cooperative Manipulators Formatted Font 14 pt Complex Script Font 14 pt Field Code Changed HADI HOMAEI Formatted Hyperlink Font 10 pt Complex Script Font 10 pt homaei@me iut ac ir Formatted Font 12 pt Not Italic Complex 2009 7 28 Script Font 12 pt Not Italic Formatted Font 12 pt Not Italic Complex and MEHDI KESHMIRI Script Font 12 pt Not Italic Formatted Font Not Italic Complex Script Department of Mechanical Engineering Font Not Italic Isfahan University of Technology Isfahan 84156 83111 Iran Formatted Font 12 pt Not Italic Complex Script Font Not Italic Formatted Font Not Italic Complex Script Font Not ItalicSupervisour Mehdi Keshmiri mehdik@cc iut ac ir Formatted Font 12 pt Not Italic Complex1st Advisor Mojtaba mahzoon Script Font Not Italic2nd Advisor Jafar Sadigh Formatted Font 12 pt Not Italic Complex Script Font 12 pt Not ItalicDepartment Graduate Progran Coordinator Mehdi Keshmiri Formatted Left E mail homaei@me iut ac ir Formatted Font 10 pt Bold Complex Script Font 10 pt Bold Formatted Font 10 pt Bold Complex ScriptAbstract Font 10 pt BoldThe optimal path planning for two flexible cooperating redundant manipulators carrying a Formatted Superscriptsolid object on a prescribed tip trajectory has been studied using kinematics resolution The Formatted Font 10 pt Bold Complex Script Font 10 pt Boldformulation has been derived using Hamiltonian approach Pontryagin Minimum Principle Formatted Font 12 ptwhich results in a Two Point Boundary Value Problem TPBVP Also a numerical technique Formatted Left Formatted Indent Before 0 After 0 which is based on converting abstract optimization to parametric optimization problem has Formatted Font 12 ptbeen proposed The problem has been solved and compared for globally minimized elastic Formatted Font 12 ptdeformation of flexible links and joints as well as minimization of joints velocities while the Formatted Font 12 pt Formatted Font 12 pt Bold Not Italic end effector moves along the specified path Complex Script Font Bold Not Italic Formatted Font Bold Not Italic Complex Script Font Bold Not ItalicKeywords Formatted Font 12 ptTrajectory Planning Redundancy Flexibility Cooperative Manipulator Formatted 1 Formatted Font 12 pt Formatted 2 1 INTRODUCTIONIntroduction Formatted 3 Most industrial robots are composed of heavy and stiff links to satisfy the required accuracy Formatted 4 Formatted Bullets and Numberingin robot motion These links have inherently large inertia and in turn require more time and Formatted 5 13 Advanced Robotics RSJ
استاد راهنما :
مهدي كشميري
استاد مشاور :
مجتبي محزون، محمد جعفر صديق
استاد داور :
حسن نحوي، مصطفي غيور، آرياالستي
