Kinematics and Optimal Control of a Mobile Parallel Robot for Inspection of Pipe-like Environments

Kinematics and Optimal Control of a Mobile Parallel Robot for Inspection of Pipe-like Environments

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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 anal...

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Bibliographic Details
Main Author: Sarfraz, Hassan
Other Authors: Gueaieb, Wail
Language:en
Published: Université d'Ottawa / University of Ottawa 2014
Subjects:
Robot
Inpipe
inspection
snake-like
kinematics
control
optimal
mobile
parallel robot
singularity
workspace
dimensional synthesis
optimization
design optimization
parametric variation
kinematic conditioning index
KCI
elbow pipe
collision avoidance
singularity avoidance
wheeled robot
trajectory
jacobian
path following
path-following
Online Access:http://hdl.handle.net/10393/30486
http://dx.doi.org/10.20381/ruor-3509

Internet

http://hdl.handle.net/10393/30486
http://dx.doi.org/10.20381/ruor-3509

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