پديد آورنده :
صادقيان، حميد
عنوان :
كنترل چند اولويتي در سيستم هاي رباتيك افزونه; كاربردي در برهم كنش فيزيكي ميان انسان و ربات
گرايش تحصيلي :
طراحي كاربردي
محل تحصيل :
اصفهان: دانشگاه صنعتي اصفهان، دانشكده مكانيك
صفحه شمار :
دوازده،114ص.: مصور،جدول،نمودار
يادداشت :
ص.ع.به فارسي و انگليسي
استاد راهنما :
مهدي كشميري
استاد مشاور :
محمدجعفر صديق، prof.Luigi villani، prof . Bruno Siciliano
توصيفگر ها :
رباتهاي با افزونگي سينماتيكي , كنترل امپدانس در فضاي پوچ
تاريخ نمايه سازي :
26/6/92
استاد داور :
علي اكبر موسويان، فريد شيخ الاسلام، مصطفي غيور، محمد دانش
كد ايرانداك :
ID540 دكتري
چكيده فارسي :
به فارسي و انگليسي: قابل رويت در نسخه ديجيتالي
چكيده انگليسي :
Multi Priority Control in Redundant Robotic systems an Application to Physical Human Robot Interaction Hamid Sadeghian h sadeghian@me iut ac ir March 2013 Department of Mechanical Engineering Isfahan University of Technology Isfahan 84156 83111 Iran Mehdi Keshmiri mehdik@cc iut ac ir Supervisor Mohammad J Sadigh jafars@cc iut ac ir Advisor Luigi Villani luigi villani@unina it Advisor Bruno Siciliano bruno siciliano@unina it Advisor Department Graduate Program Coordinator Abstract This research presents a dynamic level control algorithm to meet simultaneously multiple desired tasks based on their allocated priorities for redundant robotic systems It is shown that this algorithm can be treated as a general framework to achieve control over the whole body of the robot The control law is an extension of the well known acceleration based control to redundant robots and considers also possible interactions with the environment at any point of the robot body The stability of this algorithm is proven and some of the previously developed methods are formulated using this approach To control the interaction on the robot body null space impedance control is developed within the multi priority framework Furthermore the problem of task space control while guaranteeing a compliant behavior for the redundant degrees of freedom is considered This issue may arise in the case where the robot experiences an interaction on its body especially in the presence of humans The proposed approach guarantees accurate task execution and compliance of the robot body during intentional or accidental interaction simultaneously The asymptotic stability of the task space error is ensured by using suitable observers for estimating and compensating the generalized forces acting on the task variables without using joint torque measurements Two different controller observer algorithms are designed based on the task space error and the generalized momentum of the robot The performance of the proposed algorithms is evaluated by numerical simulations as well as experiments on a 7R KUKA lightweight robot arm Keywords Redundant robots Multi priority control Null space impedance control Physical human robot interaction Associated professor Mechanical Engineering Department Isfahan university of Technology Iran Associated professor Mechanical Engineering Department Isfahan university of Technology Iran Associated professor Dipartimento di Ingegneria Elettrica e Tecnologie dell Informazione Universit di Napoli Federico II Italy Professor Dipartimento di Ingegneria Elettrica e Tecnologie dell Informazione Universit di Napoli Federico II Italy PDF created with pdfFactory trial version www pdffactory com
استاد راهنما :
مهدي كشميري
استاد مشاور :
محمدجعفر صديق، prof.Luigi villani، prof . Bruno Siciliano
استاد داور :
علي اكبر موسويان، فريد شيخ الاسلام، مصطفي غيور، محمد دانش
