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Solving the Path Planning Problem in 3D Continues Space with Application in Elastic Manipulator

Turani, Amir Abbas | 2015

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  1. Type of Document: M.Sc. Thesis
  2. Language: Farsi
  3. Document No: 47728 (08)
  4. University: Sharif University of Technology
  5. Department: Mechanical Engineering
  6. Advisor(s): Asghari, Mohsen
  7. Abstract:
  8. Nowadays, robots are become more common in many important applications, such as academic and industrial issues. One of the most important robots are Multi-Arm manipulators which are used in many application such as moving objects, coloring, automatic welding and etc. Working with this kind of robots needs some vital attentions like planning their moving path. It is Because of the large number of obstacles that they face with in the path. Therefore, not only robots are not allowed to collision with themselves, but also they must not touch the obstacles. In the other words, they need Path planning. Generally, the equations of these robots are nonlinear. Therefore, computers and numerical methods help find more efficient and more accurate answers. In this thesis, a 6 DOF manipulator was simulated as an applicable sample. Then with optimization of some important parameter with the consideration of elasticity of links and joints, which cause error in the end-effector position, the path was designed. This path was designed in a way that important parameter such time, energy consumption and length of the path are optimum. Achieving this goal was accessible through comparing tow method: 1- minimum path length and 2- minimum energy consumption, and then using multi objective optimization
  9. Keywords:
  10. Path Planning ; Elasticity ; Manipulator ; Trajectory Optimization

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