پديد آورنده :
احمدي، حبيب
عنوان :
گرفتن ايمن اجسام ظريف دو بعدي
گرايش تحصيلي :
طراحي كاربردي
محل تحصيل :
اصفهان: دانشگاه صنعتي اصفهان، دانشكده مكانيك
صفحه شمار :
پانزده،176ص.: مصور،جدول،نمودار
يادداشت :
ص.ع.به فارسي و انگليسي
استاد راهنما :
محمدجعفرصديق
استاد مشاور :
مهدي كشميري، عباس فتاح
توصيفگر ها :
اصطكاك چند فازي , اصطكاك كولمبي , تخمين ضريب اصطكاك , دست چند انگشته , جابجايي جسم و كنترلر
تاريخ نمايه سازي :
18/11/89
استاد داور :
محمد دانش،فريد شيخ الاسلام، علي اكبر موسويان
كد ايرانداك :
ID347 دكتري
چكيده فارسي :
به فارسي و انگليسي: قابل رويت در نسخه ديجيتالي
چكيده انگليسي :
Safe Grasping of Two Dimensional Delicate Objects Habib Ahmadi habibahmadif@gmail com December 25 2010 Department of Mechanical Engineering Isfahan University of Technology Isfahan 84156 83111 Iran Supervisor Dr M J Sadigh jafars@cc iut ac ir Advisor Dr M Keshmiri mehdik@cc iut ac ir Advisor Dr A Fattah fattah@cc iut ac ir Abstract Grasping and handling delicate objects with robotic systems using force closure method needs a sophisticated control capable of providing stable grasping of the object with minimum possible normal force This work presents a new controller inspired by human method of grasping The proposed controller only needs measurement of the contact forces instead of measuring relative velocity and acceleration of object To estimate friction coefficient in uncertain situations a mathematically simple algorithm is also presented which also does not need measurement of relative motion It is shown that in noise free situation the proposed estimation algorithm guarantees robustness of the controller against variations in the friction coefficient To hold and manipulate the object with two multi link fingers we need a control scheme capable of controlling force and motion in similar direction Most of position force control algorithms proposed so far divide the work space of manipulators into two subspace and control position in one subspace and force in the other one Meanwhile for safe grasping purpose we should apply force at minimum necessary level which itself is not a known quantity during motion so the desired value of normal force is not known forehand This work propose a new position force algorithm and employ that to accomplish pinching and moving delicate object with two multi link fingers Several numerical examples are provided to show versatility of the proposed method Key Words Safe Grasping Multi Phase Friction Coulomb Friction Friction coefficient estimation Dexterous Hand Manipulation Object and Controller Department of Mechanical Engineering Isfahan University of Technology Department of Mechanical Engineering Isfahan University of Technology
استاد راهنما :
محمدجعفرصديق
استاد مشاور :
مهدي كشميري، عباس فتاح
استاد داور :
محمد دانش،فريد شيخ الاسلام، علي اكبر موسويان
