پديد آورنده :
كشميري، محمد
عنوان :
طراحي مسير يك ربات سري درمحيط ديناميكي و كنترل آن با استفاده از فيدبك تصويري
مقطع تحصيلي :
كارشناسي ارشد
گرايش تحصيلي :
طراحي كاربردي
محل تحصيل :
اصفهان: دانشگاه صنعتي اصفهان، دانشكده مكانيك
صفحه شمار :
اصفهان: دانشگاه صنعتي اصفهان، دانشكده مكانيك
يادداشت :
ص.ع. به: فارسي و انگليسي
استاد راهنما :
مهدي كشميري
توصيفگر ها :
گرفتن جسم متحرك , طراحي مسير بلادرنگ
تاريخ نمايه سازي :
26/10/88
استاد داور :
محمد جعفر صديق، مصطفي غيور
چكيده فارسي :
به فارسي و انگليسي: قابل رويت در نسخه ديجيتال
چكيده انگليسي :
Trajectory planning and control of a serial robot in a dynamic environment using visual servoing Mohammad Keshmiri m keshmiri@me iut ac ir 14th Aug 2009 Department of mechanical engineering Isfahan University of Technology Isfahan 84156 83111 IranDegre M Sc Language FarsiMehdi Keshmiri mehdik@cc iut ac irABSTRACTGenerating motion path as a function of time from start point to the target point considering obstacleavoidance and motion limits is called trajectory planning There are two approaches to Trajectory planning On line and Off line planning Depending on environmental conditions any of these two could beapplicable Generally we classify robot environments into two static and dynamic environments Environments with immovable object and targets are called static environments while the robot workspaceswhich may not be static and may permanently change in time are called dynamic environments Dynamicenvironments can be divided into structured and unstructured dynamic environments depending on ourknowledge of changes of the environment One of the problems considered in the on line trajectory planning for a robot in an unstructured dynamicenvironment is the problem of catching a moving target with unknown motion This problem is studiedextensively in this thesis for serial manipulators Moving objects to be intercepted by a robot arm can beclassified as follows Slow maneuvering object which moves on a continuous path at a relatively constant velocity or at constantacceleration Fast maneuvering object which moves with an arbitrary random acceleration Various methods are developed for these problems An On line point to point trajectory planning methodbased on adaptive prediction planning and execution APPE trajectory planning is proposed for slow maneuvering objects In this method a primary trajectory is designed and will be repaired several times in themiddle of robot motion considering environment changes For interception of a fast maneuvering object Navigation Guidance Methods are used Proportional Navigation Guidance PNG Ideal ProportionalNavigation Guidance IPNG Augmented Proportional Navigation Guidance APNG and Augmented IdealProportional Navigation Guidance AIPNG are studied and there performance are analyzed and comparedthrough numerical simulation for two planar and spatial serial manipulators In this method an accelerationvector is forced to the robot end effectors aiming to close it to the target and catch it In order to obtain a softinterception a modified AIPNG is proposed and its performance is compared with AIPNG Finally an experimental setup is developed to implement APPE empirically Keywords Catching Moving objects Dynamic environment On line trajectory planning
استاد راهنما :
مهدي كشميري
استاد داور :
محمد جعفر صديق، مصطفي غيور
