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Integrated Design of a Rigid Manipulator and its time Optimal Trajectory for Point to Point Motion

Nasrollahnezhad, Saeed | 2016

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  1. Type of Document: M.Sc. Thesis
  2. Language: Farsi
  3. Document No: 48063 (08)
  4. University: Sharif University of Technology
  5. Department: Mechanical Engineering
  6. Advisor(s): Zohoor, Hassan
  7. Abstract:
  8. The problem of point to point repetitive time reduction for the rigid manipulators is a major case in industry especially for applications such as point to point welding and part manipulation. These motions are usually repeated for a large numbers of cycles, so that even a minor economization in time can be hugely significant. Nowadays, the time optimal control problem of manipulator with completed theory, is an appropriate solution of the problem. In recent years, with the expansion of design space to structure design, more satisfactory results can be obtained using this method.
    Optimal balancing is a new approach based on the optimal control theory in which the balancing unknowns plus trajectory unknown profiles are calculated simultaneously. This method has a significant effect on the enhancement of the performance of industrial robots and leads to considerable economization in time. In this thesis, the optimal balancing method is extended to be applicable in the time optimal balancing of point to point motions with an additional spring. The main objective of the thesis is to design the passive additional parameters of manipulator (such as additional spring and mass) and its trajectory simultaneously. The optimality conditions are extracted by using the theorem of calculus of variations based on Pontryagin’s maximum principle, and then the resultant equations is solved by the homotopy continuation techniques. The simulations are applied on a two-degree-of-freedom one-link manipulator and a two-link manipulator with an additional spring
  9. Keywords:
  10. Time Optimal Control ; Path Planning ; Robot Manipulator ; Pontryagin Minimum Principle ; Optimum Balancing

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