Loading...
| Friend's email | |
| Your name | |
| Your email | |
| enter code | |
This page was sent successfuly
- Type of Document: M.Sc. Thesis
- Language: Farsi
- Document No: 44415 (05)
- University: Sharif University of Technology
- Department: Electical Engineering
- Advisor(s): Namvar, Mehrzad
- Abstract:
- Control of many mechanical systems such as satellites lies on the control of space robots. Control of space robots has many theoric complexities because of the presence of non-holonomic constraints due to angular momentum conservation. Unlike fixed-base robots, any movement of space robots manipulator has a reaction on the robot base and moves it. Thus manipulator’s movement toward desired configuration rotates the robot base and as a result appropriate attitude may not be attained. Therefore an appropriate path is required to achieve the desired configuration and the base attitude reaches its desired value. In this thesis, first the dynamic of space robots and the interaction between the manipulator and base is investigated. The path-planning of space robots is then expressed and formulated. Then after a survey of space robots path-planning, a method is suggested that enjoys properties such as sub-optimality, singularities and obstacle avoidance and least joint angles deviation. In this thesis optimal path is also studied. Optimal path is obtained by techniques of calculus of variation and solving the two boundary value problem using numerical methods. In each section related algorithms are applied to the simulated 2DOF space robot and results are presented
- Keywords:
- Nonholonomic Constraints ; Routing ; Space Robot
Digital Object List
محتواي کتاب
Bookmark