Positioning optimization of mobile articulated robot relative to taskspace

Abstract

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.