پديد آورنده :
صالحي نجف آبادي، علي
عنوان :
هدايت و كنترل حركت ميكرو- ماكرو ربات ها روي مسير ناشناخته با سرعت مطلوب
گرايش تحصيلي :
طراحي كاربردي
محل تحصيل :
اصفهان: دانشگاه صنعتي اصفهان، دانشكده مكانيك
صفحه شمار :
ده،159ص.: مصور،جدول،نمودار
يادداشت :
ص.ع.به فارسي و انگليسي
استاد راهنما :
محمد جعفر صديق
استاد مشاور :
سعيد بهبهاني
توصيفگر ها :
هدايت , پيشوا - پيرو
تاريخ نمايه سازي :
1/5/92
استاد داور :
احمد باقري، فريد شيخ الاسلام، مهدي كشميري، مصطفي غيور
كد ايرانداك :
ID519 دكتري
چكيده فارسي :
به فارسي و انگليسي: قابل رويت در نسخه ديجيتالي
چكيده انگليسي :
Position and Speed Control of Micro Macro Manipulators on Unknown Trajectories Ali Salehi Najafabadi asalehi@me iut ac ir March 13th 2013 Department of Mechanical Engineering Isfahan University of Technology Isfahan 84156 83111 Iran M J Sadigh1 jafars@cc iut ac ir Supervisor S Behbahani2 behbahani@cc iut ac ir Advisor M R Salimpour Department Graduate Program Coordinator Abstract Micro Macro manipulators are considered as a solution for applications which needs precise manipulation within a large work space Such systems consists of two parts i e a flexible large macro manipulator and a rigid short micro manipulator There are many cases in which the mathematical description of desired path is unknown In such cases one of the best solutions would be to use a master slave algorithm to control the end effector along the path and due to complicated configuration of system it is more suitable to use a joystick type master to command the system To this end a control strategy a navigation algorithm and an online redundancy resolution method is proposed The control strategy which is based on artificial constraint motion is supposed to moves end effector according to user command independent of macro manipulator motion and vibrations Meanwhile an on line redundancy resolution algorithm determines macro manipulator motion to keep its tip close to the path Three different navigation algorithms are proposed to move end effector on desired trajectory Performance of proposed control and navigation method is shown via the simulation and experiments Key Words Micro Macro manipulator Unknown trajectories Master Slave method Navigation 1 Assistant Professor Department of Mechanical Engineering Isfahan University of Technology 2 Assistant Professor Department of Mechanical Engineering Isfahan University of TechnologyPDF created with pdfFactory trial version www pdffactory com
استاد راهنما :
محمد جعفر صديق
استاد مشاور :
سعيد بهبهاني
استاد داور :
احمد باقري، فريد شيخ الاسلام، مهدي كشميري، مصطفي غيور
