高级机器人系统控制理论在工业优化中的实现
发布时间：2022-10-08 10:26
先进的机器人系统在当今现代工业中具有重要意义,相比于人工操作,它们具有持久性和可靠性。自动化制造是工业当今的主题,因此也是工业实验和学术界的研发调查的重点(JM Skowronski（USC,1989）。该系统的主要部分在于机器人控制和控制系统的稳定性,协调部件使得更有效的目标达成（最优时间规划,避免碰撞）是其中不可或缺的一部分。机器人在高速工作下需要有非常有效的负载才能进行非线性建模。他们的工作在保证精度的情况下受到许多参数的限制(JMSkowronski（USC,1989）。在传统行业中,机器人基本上是手动或部分自动的,并且在开环环境中工作,这种机器人由于无法自主的思考和工作而无法提供持久性的帮助。但是现代工业和机器人都是以自主的方式工作,依赖性低。为此更好的达到依赖性低的目的,已经构建了高速控制器来控制它们,开发人员的任务是利用不同的控制算法将人工智能,机器学习和控制技术等相关技术编程到该系统。使得这些先进的机器人可以更加独立和自主地工作。通过这种方式,机器人可以非常快速地工作进而优化相关行业。这项任务不止是让它们变得快速,而是让它们持久可靠,以完成我们期望的任务。本研究为高级机...
【文章页数】：102 页
【学位级别】：硕士
【文章目录】：
摘要
Abstract
CHAPTER 1 Introduction
1.1 Background
1.2 Motivation and Purposes
1.3 Problem Areas
1.4 Delimitations
1.5 Methods to Research the Problem
CHAPTER 2 Literature Review
2.1 Control of Manipulators
2.2 Mobile Robots
2.3 Control Theories and Algorithms
2.3.1 Fuzzy logic and it's Variant Systems
2.3.2 Network Control Theory
2.3.3 Predictive Control Algorithm
2.3.4 Control Algorithms Helping in Bio-Medical fields
2.4 Research Idea
CHAPTER 3 Robotics and its Advancements
3.1 Background and Research Advancements
3.1.1 Background of Robotics
3.1.2 Research Advancements in Robotics
3.2 Industrial Revolution and Robotics
3.3 Types of Robots
3.3.1 Cartesian Robots
3.3.2 Cylindrical Robot
3.3.3 Articulated Robot
3.3.4 Delta Robots/Parallel Robot
3.3.5 SCARA Robot(Selective Compliance Articulated Robot Arm)
3.3.6 Mobile Robots
3.4 Mathematical and dimensional modeling of Robots
3.4.1 Kinematics
3.4.2 Basic Joints
3.4.3 Forward Kinematics
3.4.4 Inverse Kinematics
3.5 Manipulator
3.5.1 Articulated Manipulator
3.5.2 The Cartesian Manipulator
3.5.3 The SCARA Manipulator
3.5.4 The Spherical Manipulator
3.5.5 The Cylindrical Manipulator
CHAPTER 4 Explorative Case studies
4.1 Quadruped Robot
4.1.1 Stability
4.1.2 Gait
4.1.3 Kinematics Analysis
4.1.4 Dynamic Analysis
4.2 Six-axis Robotic Arm
4.2.1 Kinematic Analysis of 6-axis Robotics Arm
4.2.2 Dynamic Analysis of 6-axis Robotics Arm
4.3 Humanoid Robot
4.3.1 Bipedal Robot
4.3.2 Exosuits
4.3.3 Actuator Selection Criteria
4.3.4 System control processor type selection, and programming
4.3.5 Sensor signal acquisition and signal processing
CHAPTER 5 Simulation and Results with respect to Explorative Case Studies
5.1 Dynamic Simulation & Results of Quadruped Robot
5.2 Implementation of Recursive Neural Network for Optimization in Robots
5.3 Kalman Filter
CHAPTER 6 Discussion of Findings. Conclusion and Future Recommendation
6.1 Discussion of Findings
6.2 Conclusion
6.3 Future recommendations
References
Acknowledgements
本文编号：3687546
【文章页数】：102 页
【学位级别】：硕士
【文章目录】：
摘要
Abstract
CHAPTER 1 Introduction
1.1 Background
1.2 Motivation and Purposes
1.3 Problem Areas
1.4 Delimitations
1.5 Methods to Research the Problem
CHAPTER 2 Literature Review
2.1 Control of Manipulators
2.2 Mobile Robots
2.3 Control Theories and Algorithms
2.3.1 Fuzzy logic and it's Variant Systems
2.3.2 Network Control Theory
2.3.3 Predictive Control Algorithm
2.3.4 Control Algorithms Helping in Bio-Medical fields
2.4 Research Idea
CHAPTER 3 Robotics and its Advancements
3.1 Background and Research Advancements
3.1.1 Background of Robotics
3.1.2 Research Advancements in Robotics
3.2 Industrial Revolution and Robotics
3.3 Types of Robots
3.3.1 Cartesian Robots
3.3.2 Cylindrical Robot
3.3.3 Articulated Robot
3.3.4 Delta Robots/Parallel Robot
3.3.5 SCARA Robot(Selective Compliance Articulated Robot Arm)
3.3.6 Mobile Robots
3.4 Mathematical and dimensional modeling of Robots
3.4.1 Kinematics
3.4.2 Basic Joints
3.4.3 Forward Kinematics
3.4.4 Inverse Kinematics
3.5 Manipulator
3.5.1 Articulated Manipulator
3.5.2 The Cartesian Manipulator
3.5.3 The SCARA Manipulator
3.5.4 The Spherical Manipulator
3.5.5 The Cylindrical Manipulator
CHAPTER 4 Explorative Case studies
4.1 Quadruped Robot
4.1.1 Stability
4.1.2 Gait
4.1.3 Kinematics Analysis
4.1.4 Dynamic Analysis
4.2 Six-axis Robotic Arm
4.2.1 Kinematic Analysis of 6-axis Robotics Arm
4.2.2 Dynamic Analysis of 6-axis Robotics Arm
4.3 Humanoid Robot
4.3.1 Bipedal Robot
4.3.2 Exosuits
4.3.3 Actuator Selection Criteria
4.3.4 System control processor type selection, and programming
4.3.5 Sensor signal acquisition and signal processing
CHAPTER 5 Simulation and Results with respect to Explorative Case Studies
5.1 Dynamic Simulation & Results of Quadruped Robot
5.2 Implementation of Recursive Neural Network for Optimization in Robots
5.3 Kalman Filter
CHAPTER 6 Discussion of Findings. Conclusion and Future Recommendation
6.1 Discussion of Findings
6.2 Conclusion
6.3 Future recommendations
References
Acknowledgements
本文编号：3687546
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