پديد آورنده :
شريعتي نيا، مصطفي
عنوان :
طراحي مسير بهينه يك بازوي مكانيكي ماهر با پايه متحرك به منظور عدم برخورد با موانع
مقطع تحصيلي :
كارشناسي ارشد
گرايش تحصيلي :
طراحي كاربردي
محل تحصيل :
اصفهان: دانشگاه صنعتي اصفهان، دانشكده مكانيك
صفحه شمار :
ده،85ص.: مصور،جدول،نمودار
يادداشت :
ص.ع.به فارسي و انگليسي
استاد راهنما :
مصطفي غيور
توصيفگر ها :
موبايل ربات , طراحي مسير , ماهر , الگوريتم ژنتيك
تاريخ نمايه سازي :
4/8/89
استاد داور :
محمد جعفر صديق، حسن موسوي
چكيده فارسي :
به فارسي و انگليسي: قابل رويت در نسخه ديجيتالي
چكيده انگليسي :
Optimal Trajectory Planning of a Mobile Robot with Spatial Manipulator For Obstacle Avoidance Mostafa Shariati nia m shariati@me iut ac ir 27th April 2010 Department of Mechanical Engineering Isfahan University of Technology Isfahan 84156 83111 Iran Degree M Sc Language Farsi M Ghayour Assoc Prof Supervisor ghayour@cc iut ac ir Abstract Mobile robots that consist of a mobile platform with one or many manipulators mounted on it are of great interest in a number of applications Combination of platform and manipulator causes robot operates in extended work space The analysis of these systems includes kinematics redundancy that makes more complicated problem However it gives more feasibility to robotic systems because of the existence of multiple solutions in specified workspace This paper presents a methodology for generating paths and trajectories for both the mobile platform and a 3DOF manipulator mounted on it in the presence of obstacles Obstacles add kinematics constraint into optimization problem The method employs smooth and continuous functions such as polynomials The proposed method includes obtaining time history of motion of mobile robot It is supposed obstacles can be enclosed in cylinders Platform that has been used in this research is a differentially driven platform The core of the method is based on mapping the non holonomic constraint to a space where it can be satisfied trivially A suitable criterion can be used to solve an optimization problem to find the optimal solution In this research the problem of path planning with simultaneous optimization of kinematics and dynamic indices has been accomplished using genetic algorithm in order to find the global optimum solution The validity of the methodology is demonstrated by using a differential drive mobile manipulator system and various simulations of platform with a spatial 3 link manipulator are presented to show the effectiveness of the presented method Keywords Mobile robots spatial manipulators non holonomic platform trajectory planning genetic algorithms obstacle avoidance
استاد راهنما :
مصطفي غيور
استاد داور :
محمد جعفر صديق، حسن موسوي
