Design, Fabrication and Model-based Control of Brachiation Robot, M.Sc. Thesis Sharif University of Technology ; Meghdari, Ali (Supervisor)
Abstract
In the beginning of the 90’s a new type of robot was introduced by Fukuda. The brachiation is a type of mobile robot that moves from branch to branch like a long-armed ape. Here, as a new innovation, optimal control is used to obtain the optimal trajectories for two different problems. The first problem is “Brachiation between fixed branches with different distance and height” and the second is “Brachiating and catching the moving target branch”. Theoretical results show that the control effort in the proposed method is reduced by 25% in comparison with the “Target Dynamics” method which was proposed in prior articles for this robot. The obtained optimal trajectory also minimizes the...
Cataloging briefDesign, Fabrication and Model-based Control of Brachiation Robot, M.Sc. Thesis Sharif University of Technology ; Meghdari, Ali (Supervisor)
Abstract
In the beginning of the 90’s a new type of robot was introduced by Fukuda. The brachiation is a type of mobile robot that moves from branch to branch like a long-armed ape. Here, as a new innovation, optimal control is used to obtain the optimal trajectories for two different problems. The first problem is “Brachiation between fixed branches with different distance and height” and the second is “Brachiating and catching the moving target branch”. Theoretical results show that the control effort in the proposed method is reduced by 25% in comparison with the “Target Dynamics” method which was proposed in prior articles for this robot. The obtained optimal trajectory also minimizes the...
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