پديد آورنده :
كريم پور، حسين
عنوان :
ديناميك و كنترل سيستم هاي با محرك داخلي و قيود غير انتگرال پذير براي يك ربات كروي با نگرش مكانيك هندسي و پياده سازي آزمايشگاهي آن
گرايش تحصيلي :
طراحي كاربردي
محل تحصيل :
اصفهان: دانشگاه صنعتي اصفهان، دانشكده مكانيك
صفحه شمار :
نوزده،243ص.: مصور،جدول،نمودار
يادداشت :
ص.ع.به فارسي و انگليسي
استاد راهنما :
مهدي كشميري، مجتبي محزون
استاد مشاور :
حميدرضا ظهوري زنگنه
توصيفگر ها :
سيستم غيرهولونوميك , كاهش ناشي از تقارن , همانندي ديناميكي , كنترل تطبيقي سمت
تاريخ نمايه سازي :
26/6/92
استاد داور :
اميرحسين دوائي، اعظم اعتماد، فريد شيخ الاسلام، عليرضا اصفهاني، محمدجعفر صديق
كد ايرانداك :
ID537 دكتري
چكيده فارسي :
به فارسي و انگليسي: قابل رويت در نسخه ديجيتالي
چكيده انگليسي :
252 Geometric Control Aspects of an Internally Actuated Omni directional Rolling Robot Hossein Karimpour karimpour@me iut ac ir Date of Submission 2013 01 23 Department of Mechanical Engineering Isfahan University of Technology Isfahan 84156 83111 Iran Mehdi Keshmiri45 mehdik@cc iut ac ir Supervisors Mojtaba Mahzoon mahzoon@shirazu ac ir Hamid Zohouri Zangeneh Advisor Department Graduate Program Coordinator Mohammad Reza Salimpour Abstract Several concepts and results in geometric mechanics are used to analyze and control the locomotion system of an unconventional robot encapsulated in a sphere shell assumed to roll without slipping on the floor and internally equipped with a set of inertia gyros as indirect driving devices Lie group symmetries intrinsic to this problem i e invariance of the system s Lagrangian and velocity distribution to some group of motions allows the reduction of the equations of motion This system whose motion ability is based on angular momentum conservation is established as a controllable nonholonomic system for which the attitude position cannot be stabilized by smooth feedback laws Pursuing the reduction process permits to design a feedback law extensible to both kinematic and dynamic levels of actuation enabling the robot to execute finite time reorientation and repositioning maneuvers while confined to move in corridor like domains As an extra application this system is also intended to provide an attitude control testbed that in certain senses emulates the dynamics of on orbit conditions allowing a near to reality evaluation of path planning and feedback control algorithms for satellites A concurrent solution to the attitude tracking control problem is proposed that due to parameters uncertainties is likely to require effective adaptive aptitudes Key Words Geometric Mechanics Dynamics Analogy Adaptive Attitude Control Nonholonomic Control Reduction by Symmetry Autonomous Locomotion Introduction There is wonderful elegance and clarity in the differential geometric formulation of mechanics Much of the work done in the area of overlap between differential geometry and mechanics indeed has been in understanding the structure of the mathematical The main idea presented here is how to utilize the special structure of the configuration space of mechanical systems to simplify the dynamic equations of motion and to shed light on the mechanism of motion In general these equations are highly nonlinear thus rendering the motion planning problem quite challenging that is proposing input forcesthat will cause the degrees of freedom to evolve in a desired way Thus it is clear 45 Department of Mechanical Engineering Isfahan University of Technology Iran Department of Mechanical Engineering Shiraz University Iran Department of Mathematics Isfahan University of Technology IranPDF created with pdfFactory trial version www pdffactory com
استاد راهنما :
مهدي كشميري، مجتبي محزون
استاد مشاور :
حميدرضا ظهوري زنگنه
استاد داور :
اميرحسين دوائي، اعظم اعتماد، فريد شيخ الاسلام، عليرضا اصفهاني، محمدجعفر صديق
