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首页> 外文学位 >Kinematics and Optimal Control of a Mobile Parallel Robot for Inspection of Pipe-like Environments.
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Kinematics and Optimal Control of a Mobile Parallel Robot for Inspection of Pipe-like Environments.

机译：用于检查管道环境的移动并联机器人的运动学和最优控制。

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摘要

The objective of this thesis is to analyze the kinematics of a mobile parallel robot with contribution that pertain to the singularity analysis, the optimization of geometric parameters and the optimal control to avoid singularities when navigating across singular geometric configurations. The analysis of the workspace and singularities is performed in a prescribed reference workspace regions using discretization method. Serial and parallel singularities are analytically analyzed and all possible singular configurations are presented. Kinematic conditioning index is used to determine the robot's proximity to a singular configuration. A method for the determination of a continuous and singularity-free workspace is detailed.;The geometric parameters of the system are optimized in various types of pipe-like structures with respect to a suitable singularity index, in order to avoid singularities during the navigation across elbows. The optimization problem is formulated with an objective to maximize the reachable workspace and minimize the singularities. The objective function is also subjected to constraints such as collision avoidance, singularity avoidance, workspace continuity and contact constraints imposed between the boundaries and the wheels of the robot. A parametric variation method is used as a technique to optimize the design parameters. The optimal design parameters found are normalized with respect to the width of the pipe-like structures and therefore the results are generalized to be used in the development phase of the robot.;An optimal control to generate singularity-free trajectories when the robotic device has to cross a geometric singularity in a sharp 90° elbow is proposed. Such geometric singularity inherently leads to singularities in the Jacobian of the system, and therefore a modified device with augmented number of degrees of freedom is introduced to be able to generate non-singular trajectories.
机译：本文的目的是分析具有奇异性分析，几何参数的优化以及避免在奇异几何构形中出现奇异性的最优控制的贡献的移动并行机器人的运动学。使用离散化方法在指定的参考工作空间区域中对工作空间和奇点进行分析。分析了串行和并行奇异点，并给出了所有可能的奇异配置。运动条件指数用于确定机器人与单个配置的接近程度。详细介绍了一种确定连续和无奇异工作空间的方法。;针对合适的奇异性指标，在各种类型的管状结构中优化了系统的几何参数，以避免在导航过程中出现奇异性肘部。提出优化问题的目的是最大化可到达的工作空间并最小化奇点。目标函数还受到约束，例如避免碰撞，避免奇点，工作空间连续性以及在机器人的边界和轮子之间施加的接触约束。参数变化方法被用作优化设计参数的技术。找到的最佳设计参数相对于管状结构的宽度进行了归一化处理，因此可以将结果推广到机器人的开发阶段中使用；当机器人设备具有以下特性时，生成无奇异轨迹的最优控制提出了在90°锐角弯头中克服几何奇点的方法。这样的几何奇异性固有地导致系统的雅可比行列中的奇异性，并且因此引入了具有增加的自由度数量的改进的装置以能够产生非奇异的轨迹。

著录项

  • 作者

    Sarfraz, Hassan.;

  • 作者单位

    University of Ottawa (Canada).;

  • 授予单位 University of Ottawa (Canada).;
  • 学科 Engineering Computer.;Engineering Robotics.
  • 学位 M.A.Sc.
  • 年度 2014
  • 页码 135 p.
  • 总页数 135
  • 原文格式 PDF
  • 正文语种 eng
  • 中图分类
  • 关键词

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