Path planning of robot manipulator using bezier technique

مقدم أطروحة جامعية

Shabib, Ala Hasan

مشرف أطروحة جامعية

Muhammad, Layth Abd Allah

الجامعة

الجامعة التكنولوجية

الكلية

-

القسم الأكاديمي

قسم هندسة الإنتاج و المعادن

دولة الجامعة

العراق

الدرجة العلمية

ماجستير

تاريخ الدرجة العلمية

2013

الملخص الإنجليزي

Robot manipulator is one of the motivation disciplines in industrial and educational applications.

It is designed to be flexible in general motion to move objects from one position to another with smooth movement.

In this work the motion planning is based on modeling and analysis of 5 degree of freedom (Dof), robot manipulator is the main objective of this thesis, solving the modeling problem is necessary before applying any motion techniques to guarantee the execution of any task according to a desired input with minimum error.

Deriving both forward and inverse kinematics equations is an important step in robot modeling, an analytical solution for the robot manipulator has been worked in this thesis to obtain a path control using forward and inverse kinematics methods.

By these methods manipulator's joints angles are determined from the required target given in Cartesian space.

Both kinematics models have been validated using developed programs based on Matlab environment and implemented on 5DOF lab_volt R5150 robot manipulator system.

The developed program was used to create the simulation model and test motional characteristics of the robot manipulator system.

Moreover, the developed simulation model was implemented and tested in order to analyze and improve the algorithms of Forward Kinematics, Inverse Kinematics and Path Planning base on Bezier techniques.

Then, comparisons had been made between the theoretical results obtained from both the mathematical analysis algorithms and simulation for solution with the experimental results of the robot manipulator in terms of motion, trajectories, and kinematics.

Several cases have been tested in this thesis using the robot manipulator system with minimum error to move end-effector from one position to another.

This work tests some vital tasks in industry, these are: pick and place operation, geometric path-based path planning, obstacle avoidance, and path tracking.

التخصصات الرئيسية

العلوم الهندسية والتكنولوجية (متداخلة التخصصات)

الموضوعات

• الحوسبة
• الروبوتات

• APA
• MLA
• AMA

لغة النص

الإنجليزية

نوع البيانات

رسائل جامعية

رقم السجل

BIM-413066