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Path Planning and Hybrid Control of a Tendon Actuated Redundant Manipulator with Lockable Joints

Taherifar, Ali | 2011

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  1. Type of Document: M.Sc. Thesis
  2. Language: Farsi
  3. Document No: 42175 (08)
  4. University: Sharif University of Technology
  5. Department: Mechanical Engineering
  6. Advisor(s): Alasty , Aria; Salarieh, Hassan
  7. Abstract:
  8. Snake-arms are hyper redundant manipulators that have high degree of freedom. Due to their high flexibility they have a great potential to work in the fully restrained, complex and hazardous environments such as Nuclear reactors and space stations. They can also be used for surgery, exploration and rescue. In this thesis the path planning and kinematic control of a special type of snake arm are investigated. In this manipulator, the extra cables are replaced by a locking system to reduce weight of the structure and the number of actuators. Therefore, by releasing and locking the joints in arbitrary sequence and by stretching the cables, the configuration of manipulator will change. This mechanism of actuation has discrete and continuous variables, which makes the control problem too sophisticated. In this research, the particle swarm optimization algorithm has been used for the path planning. All of the constraints such as joint range of motion and constraints related to locking system are considered. In the first part of this thesis, the path planning problem of a planer manipulator in a straight line is presented. In the second part, the minimum switch path is solved to reduce the vibration, energy consumption and increase the accuracy of movement. The path planning in this part is applied to spatial manipulator. In the next section, the minimum time path planning is presented based on bang-bang theory. In addition, different optimization algorithms such as genetic algorithm and simulated annealing are used for validation of the results in different part of the thesis. For closed loop control of manipulator a novel algorithm is presented. This algorithm is consisted of decision-making, kinematic calculation and controller units. The performance of above hybrid control scheme in tracking has been assessed for several trajectories.
  9. Keywords:
  10. Path Planning ; Tendon Actuated Manipulators ; Particles Swarm Optimization (PSO) ; Redundant Manipulator ; Tracking Control ; Hybrid Methods

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