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چكيده انگليسي :

Design and Control of a Master Manipulator with Force Reflection Ability Mohammad Saleh Ahmadi Ms ahmadipooladianar@me iut ac ir April 11 2011 Department of Mechanical Engineering Isfahan University of Technology Isfahan 84156 83111 Iran Degree M Sc Language FarsiSupervisor M J Sadigh Assist Prof mjsadigh@cc iut ac irAbstractMaster slave systems are composed of two sections of master and slave robots The master robot receives inputcommands from the operator and constructs required commands for the slave robot through control algorithms There are two kinds of master slave robots master robots with a similar geometry with the slave robot and masterrobots with geometry different from the slave The first kind usually is used for geometrically simplemanipulators but for more complex manipulators it is difficult or in some cases impossible to use similar masterand slave robots Therefore in these cases a simple master is used to generate the required commands for motionof end effector instead of required commands for joint motions One important issue in these systems especiallyin susceptible applications is the force reflection from the slave robot to the master one Because using thisfeedback the operator is able to control the slave robot better and more accurate to do the task Designing andcontrol of a general master robot which can work with real tool and through force reflection produces a realisticfeeling for operator is the main subject of this thesis For this purpose several structures are defined for masterrobot Though some of these structures are unable to reflect the force because of inactive joints but it isnecessary to mention them to keep the logical procedure of the discussion Four kinds of master robots areproposed in this thesis inactive two link manipulator active two link manipulator four link macro micromanipulator with active macro and inactive micro joints and finally four link macro micro manipulator withactive joints At the beginning two link manipulator investigated as a master robot Simulations showed that theforces exerted to the operator hand using inactive robot are more than required force to move the tool itself Thenopen loop and closed loop controllers were designed for active two link manipulator Unsuitable performance ofthis robot at positions near singular configurations of the robot led us to propose four link robot structure asmaster robots To overcome the redundancy the motion strategy of the macro section was considered to decreasethe forces exerted to the operator hand The four link robot with active macro and inactive micro joints decreasedthe force exerted to the operator hand but was unable to reflect the force Therefore the last structure four linkplanar manipulator with all active joints proposed and an open loop controller was designed The motion strategyfor macro section was the same with the strategy of motion of previous structure At the end simulation resultsare presented to show the performance of each robot structure and designed controllers These simulations arecompared and advantages and disadvantages of each of the proposed structures are mentioned and the beststructure for the master robot is defined Key WordsMaster slave Systems Master Manipulator Force Reflection

احمدي، محمدصالح

طراحي و كنترل ربات پيشواي عمومي با قابليت بازگشت نيرو

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