پديد آورنده :
قاسمي، احمد
عنوان :
بهينه سازي بلادرنگ سيستم تحريك بازو هاي همكار: مطالعه تحليلي و آزمايشگاهي
مقطع تحصيلي :
كارشناسي ارشد
گرايش تحصيلي :
طراحي كاربردي
محل تحصيل :
اصفهان: دانشگاه صنعتي اصفهان، دانشكده مكانيك
صفحه شمار :
هشت، 123،[II]ص:.مصور، جدول،نمودار
يادداشت :
ص.ع.:به فارسي و انگليسي
استاد راهنما :
مهدي كشميري
استاد مشاور :
محمد جعفر صديق
توصيفگر ها :
بازوهاي مكانيكي همكار , روش لاگرانژ , سنسورهاي نوري
تاريخ نمايه سازي :
20/12/1387
استاد داور :
مصطفي غيور، فريد شيخ الاسلام
تاريخ ورود اطلاعات :
1396/09/07
چكيده فارسي :
به فارسي و انگليسي:قابل رويت درنسخه ديجيتال
چكيده انگليسي :
Abstract There are two general methods to control cooperative mechanical manipulators centralized decentralized methods In the decentralized method each manipulator iscontrolled separately without awareness of other manipulator s situation The effect ofeach manipulator to the other is considered as disturbances In centralized method the setof cooperative manipulators is considered as an unified system and a single controller isdesigned for the whole system Hence in the case that the centralized controller is used one can either turn off theredundant actuator and compute the other actuators accordingly or calculate all actuatorssuch that a dynamic index become optimized In this thesis initially dynamical equations were obtained for a two link cooperativemanipulator in two different cases carrying a point mass and carrying a solid object Then both centralized and decentralized controllers were designed for them Andsimulated numerically Regarding actuation optimization a real time near exact optimization algorithm wasproposed and its effectiveness was evaluated by comparing its numerical results with anexact optimization approach All the numerical results were verified through experimental setup made for thispurpose
استاد راهنما :
مهدي كشميري
استاد مشاور :
محمد جعفر صديق
استاد داور :
مصطفي غيور، فريد شيخ الاسلام
