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RISS 인기검색어
- 검색키워드
- 저자 : Shariati Nia Mostafa (검색결과 2 건)
- 무료
- 기관 내 무료
- 유료
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Optimal Trajectory Planning of a Mobile Robot with Spatial Manipulator For Obstacle Avoidance
Shariati Nia Mostafa,Ghayour Mostafa,Mosayebi Masoud 제어로봇시스템학회 2010 제어로봇시스템학회 국제학술대회 논문집 Vol.2010 No.10
Mobile robots consist of a mobile platform with one or many manipulators mounted on it are of great interest in a number of applications. Combination of platform and manipulator causes robot operates in extended work space. The analysis of these systems includes kinematics redundancy that makes more complicated problem. However, it gives more feasibility to robotic systems because of the existence of multiple solutions in a specified workspace. This paper presents a methodology in generating paths and trajectories for both the mobile platform and a 3DOF manipulator mounted on it, in the presence of obstacles. Obstacles add kinematics constraint into optimization problem. The method employs smooth and continuous functions such as polynomials. The proposed method includes obtaining time history of the mobile robot motion. It is supposed that the obstacles can be enclosed in cylinders. The platform has been used in this research is a differentially-driven platform. The core of the method is based on mapping the nonholonomic constraint to a space where it can be satisfied trivially. A suitable criterion can be used to solve an optimization problem to find the optimal solution. In this research, the problem of path planning with simultaneous optimization of kinematics and dynamic indices has been accomplished using genetic algorithm in order to find the global optimum solution. The validity of the methodology is demonstrated by using a differential-drive mobile manipulator system, various simulations of platform with a spatial 3-link manipulator are presented to show the effectiveness of the presented method.
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Observer Based Tip Tracking Control of Two-Link Flexible Manipulator
Mosayebi Masoud,Ghayour Mostafa,Shariati Nia Mostafa 제어로봇시스템학회 2010 제어로봇시스템학회 국제학술대회 논문집 Vol.2010 No.10
In this paper, a non-linear observer is designed to estimate the time derivatives of the flexural degrees of freedom that are not conveniently or economically accessible. A non-linear control strategy is developed based on input-output linearization. This is achieved by defining new outputs near the end point of the arm that results in stable zero dynamics. The control objective is considered tip position tracking of a desired trajectory. Stability of the observer error dynamics is proved by Lyapunov theorem. The controller performance is demonstrated by numerical simulation on a two-link flexible manipulator with a tip load in vertical plane.
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