Dynamic modeling and control implementation of mobile manipulator

مقدم أطروحة جامعية

Qasim, Abd al-Muhaymin Basim

مشرف أطروحة جامعية

Said, Wala al-Din K.

الجامعة

الجامعة التكنولوجية

الكلية

-

القسم الأكاديمي

قسم هندسة السيطرة و النظم

دولة الجامعة

العراق

الدرجة العلمية

ماجستير

تاريخ الدرجة العلمية

2012

الملخص الإنجليزي

In this research, a mobile manipulator consisting of a four degree of freedom (4-DOF) robotic manipulator mounted at the top of a mobile platform of a mobile robot with four differential drive wheels.

A mobile manipulator combines the dexterous manipulator capability offered by fixed-based manipulators and the mobility offered by the mobile robot.

The work involves the mobile and manipulator kinematics model and the control of the wheel mobile robot in order to track any trajectory such as an ellipse, circle….etc.

To ensure the safe transmission of the robot during the navigation in an environment, the obstacle avoidance through navigation in an environment was implemented using fuzzy logic rules in two main parts.

The first part was the construction of a software simulation model for the four wheels driven mobile manipulator robot.

The software program was built using the MATLAB programming package (2009a version 7.8).

The robot navigated successfully using 20 × 20 units X-Y plane with randomly distributed obstacles.

The test results showed that the mobile manipulator robot travels successfully to its target after avoiding all obstacles in its way.

Also, the manipulator was then performed its task on a plane wall.

The second part was implemented using the real mobile manipulator robot and used the entire hardware requirements such as sharp infrared sensors, Bot-Bread II card controller, driver circuit, DC motor for mobile robot, servo motor for manipulator robot, and the associated software requirements such as Basic Micro Studio programming package (version 2.1).

التخصصات الرئيسية

العلوم الهندسية والتكنولوجية (متداخلة التخصصات)

الموضوعات

• الحوسبة

• APA
• MLA
• AMA

لغة النص

الإنجليزية

نوع البيانات

رسائل جامعية

رقم السجل

BIM-418571