OPTIMIZATION, CONTROLLER AND OBSERVER DESIGN OF A RECONFIGURABLE MOBILE ROBOT USING GENETIC ALGORITHM AND NEURAL NETWORK

Q: How can I download an article?

To download an article from SID, first log in to the site, search for the article title, and click on the 'Download Article' option.

Q: How can I download an ISI article?

To download an ISI article on SID, enter the keyword or article title in the search bar, view the relevant results, click on the desired article, and select the 'Download Article' option.

Q: How can I access the SID database?

To access the SID database, visit SID.ir, create an account, and log in to access scientific resources.

Q: Is downloading articles from SID free?

Some articles on SID are available for free, while others require payment. Details are specified on the article's page.

NADERI D.; GANJEHFAR S.; MOSADEGHZADEH M.

مرکز اطلاعات علمی Scientific Information Database (SID) - Trusted Source for Research and Academic Resources

Journal Paper

Paper Information

Journal: INTERNATIONAL JOURNAL OF ADVANCED DESIGN AND MANUFACTURING TECHNOLOGY Year:2010 | Volume:3 | Issue:2 (10) Page(s): 1-16

Download Full-Text

Persian Verion

View:

1,410

Download:

Cites:

Information Journal Paper

Title

OPTIMIZATION, CONTROLLER AND OBSERVER DESIGN OF A RECONFIGURABLE MOBILE ROBOT USING GENETIC ALGORITHM AND NEURAL NETWORK

Author(s)

NADERI D. | GANJEHFAR S. | MOSADEGHZADEH M. | Issue Writer Certificate

Keywords

RECONFIGURABLE ROBOTQ3

DYNAMIC MODELINGQ2

GENETIC ALGORITHMQ2

NONLINEAR CONTROLQ3

SIMULATION ECONFIGURABLE ROBOTQ3

MOBILE ROBOTQ2

DYNAMIC MODELINGQ3

KANE DYNAMICQ2

SIMULATIONQ3

Abstract

In this research optimal reconfiguration strategy of the improved SRR reconfigurable MOBILE ROBOT based on Force-Angle stability measure has been designed using GENETIC ALGORITHM. Path tracking NONLINEAR CONTROLler which keeps robot’s maximum stability has been designed and simulated in MATLAB. Motion equations of the robot have been derived in parametric form by means of Newton- Euler, Lagrange and KANE DYNAMIC methods using MATLAB symbolic toolbox. The robot has been simulated using ADAMS software for optimization evaluation. Path and velocity of the vehicle and end-effectors and the terrain function below vehicle’s wheels have been already defined. Reconfigurable MOBILE ROBOTs increase their stability in rough terrain by static or dynamic reconfiguration or by means of mass-center quasi-static transportation or dynamical reconfiguration during motion. Extendable Newton-Euler, Lagrange and KANE DYNAMIC methods algorithms to other kinds of robots have been designed for DYNAMIC MODELING of improved SRR reconfigurable mobile. Spatial complex dynamic equations of improved SRR have been derived in parametric form by means of those dynamic methods using MATLAB symbolic toolbox. Furthermore, the robot has been simulated using ADAMS software for evaluation of dynamic model.

Cites

No record.

References

Cite

APA: Copy

NADERI, D., GANJEHFAR, S., & MOSADEGHZADEH, M.. (2010). OPTIMIZATION, CONTROLLER AND OBSERVER DESIGN OF A RECONFIGURABLE MOBILE ROBOT USING GENETIC ALGORITHM AND NEURAL NETWORK. INTERNATIONAL JOURNAL OF ADVANCED DESIGN AND MANUFACTURING TECHNOLOGY, 3(2 (10)), 1-16. SID. https://sid.ir/paper/172384/en

Vancouver: Copy

NADERI D., GANJEHFAR S., MOSADEGHZADEH M.. OPTIMIZATION, CONTROLLER AND OBSERVER DESIGN OF A RECONFIGURABLE MOBILE ROBOT USING GENETIC ALGORITHM AND NEURAL NETWORK. INTERNATIONAL JOURNAL OF ADVANCED DESIGN AND MANUFACTURING TECHNOLOGY[Internet]. 2010;3(2 (10)):1-16. Available from: https://sid.ir/paper/172384/en

IEEE: Copy

D. NADERI, S. GANJEHFAR, and M. MOSADEGHZADEH, “OPTIMIZATION, CONTROLLER AND OBSERVER DESIGN OF A RECONFIGURABLE MOBILE ROBOT USING GENETIC ALGORITHM AND NEURAL NETWORK,” INTERNATIONAL JOURNAL OF ADVANCED DESIGN AND MANUFACTURING TECHNOLOGY, vol. 3, no. 2 (10), pp. 1–16, 2010, [Online]. Available: https://sid.ir/paper/172384/en

Related Journal Papers