طراحي و كنترل تطبيقي مسير چند منظوره يك بازوي مكانيكي متحرك چرخ دار

چكيده انگليسي :

124 Design and Adaptive Control of Multi Task Planning of a Wheeled Mobile Manipulator Soroush Yazdani s yazdani@me iut ac ir June 27 2011 Department of Mechanical Engineering Isfahan University of Technology Isfahan 84156 83111 IranDegree M Sc Language FarsiKeshimiri Mehdi Associate Professor Email mehdik@cc iut ac irFattah Abbas Assistant Professor Email fattah@cc iut ac irAbstractRobots Robots on Mars and in oceans in hospitals and homes in factories and schools robots fighting fires making goods and products saving time and lives Robots today are making a considerable impact onmany aspects of modern life from industrial manufacturing to healthcare transportation and exploration ofthe deep space and sea Tomorrow robots will be as pervasive and personal as today s personal computers The dream to create machines that are skilled and intelligent has been part of humanity from the beginning oftime This dream is now becoming part of our world s striking reality A kinematically redundant manipulator possesses more joints than those strictly required to execute its task This provides the robot with an increased level of dexterity that may be used to avoid singularities jointlimits and workspace obstacles but also to minimize joint torque energy or in general to optimize suitableperformance indexes Application of robots in industrial sectors has been very impressive with new advances in technology Nowadays mobile robots are used in many applied industrial applications due to their high mobility One ofthe properties of these robots is its redundancy of degrees of freedom Although this redundancy makes thekinematics dynamics and control of these robotic systems more complicated however it reduces singularpoints or it has the ability to do secondary tasks during robot motion Path planning of a redundant robot ishighly dependent on the kinematic and dynamic model of the robot In this thesis an adaptive path planningand control of a wheeled mobile manipulator which is inherently a redundant robot has been investigated Also the problem of path planning and control of the robot for multi priority task operations has beenconsidered First of all optimal path planning problem for a set of kinematic and dynamic indices is done analytically Due to the model based nature of optimal path planning problem the design and adaptive control of anoptimal path have been used as an approach to tackle the problem Study shows that using improvedparameters of an adaptive controller in the path planning section caused more optimal designed paths Thisstudy has been performed for correcting an optimal path planning problem with dynamic indices since onecan expect more effect of the adapted parameters In a path planning problem with local indices a new method is provided for real time and approximateoptimization and implemented on the wheeled mobile manipulator In the proposed method the optimizersection has been combined to the tracker section Tracker has the responsibility of robot s end effectortrajectory control on the desired path while the approximate optimizer has the role of optimizing thekinematic and dynamic indices This optimizer has the capability to be implemented online for a wide rangeof indices Also in this thesis for multi task operation robot s dynamics has been decoupled into the task space motion end effector motion and configuration space motion internal motion Considering priority of the taskspace motion to the configuration space motion control of the robot in this operation has been investigated This approach can be used in a wheeled mobile robot to perform an obstacle hitting free task Key WordsRedundant manipulator Wheeled Mobile Manipulator Optimal Path Planning AdaptiveControl

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طراحي و كنترل تطبيقي مسير چند منظوره يك بازوي مكانيكي متحرك چرخ دار

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