Positioning optimization of mobile articulated robot relative to taskspace
Panthi, Narayan (2021)
Diplomityö
Panthi, Narayan
2021
School of Energy Systems, Konetekniikka
Kaikki oikeudet pidätetään.
Julkaisun pysyvä osoite on
https://urn.fi/URN:NBN:fi-fe202103319002
https://urn.fi/URN:NBN:fi-fe202103319002
Tiivistelmä
This thesis describes an optimization approach for positioning a mobile-articulated robot in a task-space. This thesis dives into the first approach, of preplanned location with certain dimension constraints. In the second approach, an objective function is created, which can be used in any dimension of circular or rectangular task space. The method was tested by experiments carried out in the lab to control the hybrid robot to fulfill the assembly task of drilling on a sheetmetal panel used in roofs.