چكيده به لاتين
Dual arm mobile robots in various fields have diverse applications such as carrying
and assembling parts. In this thesis, by using the Gibbs-Appell recursive method first,
the dynamic modeling of a the Dual arm robot with n rigid links in each arms, with the
assumption of considering the mass of motors, the body in endeffector and the
revolute joints is derived. Also the dynamic model of the dual arm mobile robot with
elastic arms and clamped-free boundry condition is obtained by this method. Elastic
links are modeled using assumed modes method and with the Euler-Bernoulli beam
theory assumption.
Feedback linearization is an important method in controlling nonlinear systems. Using
this method, the complex nonlinear dynamics equations of dual arm robot were
linearized and then, using control methods such as LQR and PD, the control of this
robot was accomplished on a specific path. Afterwards, for a dual arm with rigid arms,
the dynamic load carrying capacity for a given path was obtained. For mobilr flexible
dual arm, stability of internal dynamics due to the unequal number of outputs and
inputs of the system is investigated. Then by linearization of dynamics equations, the
PD control method is used for contro1 robot.
One the important issues in wheeled robots is their capability in avoiding tipover.
Using ZMP and MHS methods, dual arm mobile robot dynamic analysis was fulfilled.
The only factor that has been considered in these methods is the robot stability and it
doesn't give you any information about the possibility of tip-over when the robot is
unstable. In order to develop the MHS method, by comparing the tip-over angle limit
and exciting angle, the possibility of tip-over in the instability situation is discussed.
