Zugl.: Duisburg, Essen, Univ., Diss., 2006

Zugl.: Bremen, University, Diss., 2009.

Zugl.: Hannover, Universiẗat, Diss., 2005. / Zsfassung in engl. Sprache.

Universiẗat, Diss., 2003--Bonn.

Made available in DSpace on 2014-06-11T19:34:58Z (GMT). No. of bitstreams: 0 Previous issue date: 2007-05Bitstream added on 2014-06-13T20:06:00Z : No. of bitstreams: 1 nunes_lenp_dr_guara.pdf: 1711475 bytes, checksum: 1ea89d3a534a0a1530a9ef0a0ba7cb3e (MD5) / Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES) / Este trabalho trata da geração e otimização de trajetórias de um manipulador robótico planar (2D) de três graus de liberdade, num ambiente livre de obstáculos. Visto que a cinemática inversa de braços robóticos é um problema complexo que, em geral, geram múltiplas soluções, otimizam-se, aqui, estas soluções através de algoritmos genéticos (AGs). A função de avaliação do AG tem caráter multi-objetivo, de forma a minimizar os deslocamentos angulares e obter de forma precisa a posição da garra, usando funções desenvolvidas para o ambiente Matlab, tais como, GAOT e PLANMANT, devido a sua facilidade de programação e geração de gráficos. A seguir, foram obtidos resultados através de programa desenvolvido em linguagem C, utilizando a biblioteca GAUL, e tem-se avaliado o desempenho computacional de processamento. E finalmente, para a validação experimental deste estudo, tem-se implementado este procedimento em um manipulador robótico Robix RCS-6 de configuração similar ao modelo simulado. Os resultados mostram que o método implementado é eficiente, computacionalmente rápido e viável em aplicações reais. / This work treats of the generation and optimization of trajectories for a planar robotic manipulator (2D) of three degrees of freedom, in free environment obstacles. Since the inverse kinematics of robotic arms are a complex problem that, generally, generate multiple solutions, here are optimized these solutions through genetic algorithms (AGs). The evaluation function of the AG has multi-objective character which minimize the angular displacements and the positional errors, being used functions developed for the Matlab environment, such as, GAOT and PLANMANT, due its compliance of programming and graphics generation. Immediately, results were obtained through program developed in language C, using the GAUL library. The computational processing performance has been evaluated. And finally, for the experimental validation of this study, has been implemented this procedure in a robotic manipulator Robix RCS-6 of similar configuration to the simulated model. The results show that the implemented method is efficient, and computationally fast and viable in real applications. KEYWORDS: Robotic manipulator, Optimal trajectory, Inverse kinematics, Genetic algorithm.

This dissertation is about manipulating equipments using Fin Ray Effect ®. The model of manipulator, using this principle, was created for description of the manipulator movement. The measurement was done with this model. After result evaluation the improvement of model was proposed. There were also proposed technical applications where this type of manipulation could be used.

This thesis deals with the simulation modelling of manipulator mechatronic system in ADAMS. The beginning of thesis is dedicated to the theoretical study of the compute modelling electro-mechanical systems and mechatronics approach modelling manipulator’s systems. Next chapters describe the creation of kinematics model of the manipulator with using ADAMS and proposal supporting frame in ANSYS/Workbench environment. The next step, manipulator and supporting frame simulation model is created for the computing vibration a dynamic analysis. At the end of this thesis is used cosimulation ADAMS and Matlab/Simulink for the control of synchronous drivers of manipulator.

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In this thesis, a strategy to accomplish pick-and-place operations using a six degree-of-freedom (DOF) robotic arm attached to a wheeled mobile robot is presented. This research work is part of a bigger project in developing a robotic-assisted nursing to be used in medical settings. The significance of this project relies on the increasing demand for elderly and disabled skilled care assistance which nowadays has become insufficient. Strong efforts have been made to incorporate technology to fulfill these needs. Several methods were implemented to make a 6-DOF manipulator capable of performing pick-and-place operations. Some of these methods were used to achieve specific tasks such as: solving the inverse kinematics problem, or planning a collision-free path. Other methods, such as forward kinematics description, workspace evaluation, and dexterity analysis, were used to describe the manipulator and its capabilities. The manipulator was accurately described by obtaining the link transformation matrices from each joint using the Denavit-Hartenberg (DH) notations. An Iterative Inverse Kinematics method (IIK) was used to find multiple configurations for the manipulator along a given path. The IIK method was based on the specific geometric characteristic of the manipulator, in which several joints share a common plane. To find admissible solutions along the path, the workspace of the manipulator was considered. Algebraic formulations to obtain the specific workspace of the 6-DOF manipulator on the Cartesian coordinate space were derived from the singular configurations of the manipulator. Local dexterity analysis was also required to identify possible orientations of the end-effector for specific Cartesian coordinate positions. The closed-form expressions for the range of such orientations were derived by adapting an existing dexterity method. Two methods were implemented to plan the free-collision path needed to move an object from one place to another without colliding with an obstacle. Via-points were added to avoid the robot mobile platform and the zones in which the manipulator presented motion difficulties. Finally, the segments located between initial, final, and via-points positions, were connected using straight lines forming a global path. To form the collision-free path, the straight-line were modified to avoid the obstacles that intersected the path. The effectiveness of the proposed analysis was verified by comparing simulation and experimental results. Three predefined paths were used to evaluate the IIK method. Ten different scenarios with different number and pattern of obstacles were used to verify the efficiency of the entire path planning algorithm. Overall results confirmed the efficiency of the implemented methods for performing pick-and-place operations with a 6-DOF manipulator.