3923

3701

كارشناسي ارشد

طراحي كاربردي

اصفهان: دانشگاه صنعتي اصفهان، دانشكده مكانيك

1386

ده، 96، [II] ص.: مصور، جدول، نمودار

ص. ع. به فارسي و انگليسي

مصطفي غيور

عباس فتاح

5/3/87

مهدي كشميري، حسن موسوي

1396/03/06

كتابنامه

مكانيك

مهندسي مكانيك

ID3701

به فارسي و انگليسي: قابل رويت در نسخه ديجيتال

abstract In this research a planning methodology for nonholonomic mobile manipulators in thepresence of obstacles is developed The method employs smooth and continuous functionssuch as polynomials The proposed method includes extracting time history of motion ofmobile robot For sampling it is supposed obstacles can be enclosed in ellipse or circles Platform that has been used in this research is differentially driven platform that very usable The core of the method is based on mapping the nonholonomic constraint to a space where itcan be satisfied trivially Combination of platform and manipulator causes robot operates in extended work space However studying of such systems include kinematics redundancy that make morecomplicated problem but gives more capabilities to robotic systems because of the multiplesolutions obtainable in specified workspace One method of selection amongst the set ofsolutions is to choose a suitable criterion and to optimize it In this research the problem ofpath planning with optimization of dynamic indices has been accomplished using geneticalgorithm and direct search in order to find the global optimum Obstacles existence adds kinematics constraint into optimization problem In order toapply the kinematics constraint into the optimization problem two methods have also beenused The first one consists of using the analytic solution of the kinematics equation to reducedimension of the problem transforming the constraint optimization process to an unconstraintone The second one that has been used in this research kinematics constraint has been addedto dynamic indices using Lagrange multiplier and penalty parameter Various simulation ofplatform with a 3 link manipulator are presented to show the effectiveness of the presentedmethod

مصطفي غيور

عباس فتاح

مهدي كشميري، حسن موسوي