پديد آورنده :
هاديان جزي، شهرام
عنوان :
ديناميك و كنترل فرآيند گرفتن و تعقيب مسيريك جسم توسط بازوهاي همكار صفحه اي در حضور نامعيني
محل تحصيل :
اصفهان: دانشگاه صنعتي اصفهان، دانشكده مكانيك
صفحه شمار :
هفده، 160، [II]ص.: مصور، جدول، نمودار
يادداشت :
ص.ع. به: فارسي و انگليسي
استاد راهنما :
مهدي كشميري، فريد شيخ الاسلام
استاد مشاور :
مجتبي محزون، اميرحسين دوايي مركزي
توصيفگر ها :
تماسهاي اصطحكاكي , مدل سازي ديناميكي
تاريخ نمايه سازي :
14/12/87
استاد داور :
عباس فتاح، سعيد حسين نيا، مجيد محمدي مقدم، علي اكبر موسويان،عقيل يوسفي كما
كد ايرانداك :
ID221 دكتري
چكيده فارسي :
به فارسي وانگليسي: قابل رؤيت در نسخه ديجيتال
چكيده انگليسي :
Abstract Desirable performance of cooperating manipulators has led to lots of researches andapplications of these robotics systems Among many different scientific issues objectgrasping is an important one that many researchers have studied Type of grasping grasping point different type of contact conditions forces exerted on the object graspingstability and object motion measurements are some of the issues that researchers havestudied so far Friction contact condition is one of the contact types that one can find manyrelated researches in the literature Static and dynamic constraints in this contact conditionleads to multi phase dynamical system which is described by algebraic differentialequations with equality and inequality constraints This irregular form of dynamicequations makes dynamic analysis and control synthesis of the system difficult if notpossible In this thesis initially a new form of formulation is developed to illustrate the contactconditions based on Coulomb friction model This formulation is used to develop a newset of equations of motion suitable for dynamic analysis and control synthesis A controlmethod is proposed based on this formulation and its stability is studied Then performanceof the control system is studied numerically and is compared with a modified conventionalcontrol approach and advantage of this new approach to the conventional one is addressed The formulation is utilized to extend the control approach to an adaptive control system Atthe end an experiment setup is used to evaluate the capability of the proposed controlmethod in real application
استاد راهنما :
مهدي كشميري، فريد شيخ الاسلام
استاد مشاور :
مجتبي محزون، اميرحسين دوايي مركزي
استاد داور :
عباس فتاح، سعيد حسين نيا، مجيد محمدي مقدم، علي اكبر موسويان،عقيل يوسفي كما
