Optimal Pose Estimation of Robotic Manipulator For Pick And Place Application /
Uzair Farrukh
- 46p. Soft Copy 30cm
This thesis examines how to use robotic manipulator to pick specific object. In order to attain above objective planning of manipulator as well as grasping point calculations are studied. The process of calculating grasping pose with respect to target object,the grasping point essential for successful grasping of object is called grip synthesis.Both analytical and empirical approaches are used to calculate grasping points. While empirical uses human like strategies, analytical approaches are mainly dependent on geometric, kinematic, and/or dynamic formulations. The main goal of the thesis is to minimize joint accelerations. Constrained optimization techniques like genetic algorithm and path search algorithm are used to find grasping point and minimize joint accelerations to ensure successful grasping of object.A novel hybrid approach is also proposed which used both genetic algorithm and path search algorithm to find its fitness value. The first contribution is finding optimal grasping points of regular shaped object by calculating centroid of object and are near to centroid along minor axis. The second contribution is to minimize joint accelerations by using optimization techniques of genetic algorithm and path search algorithm in which global minima’s are found and optimized trajectory is generated which helps in successful grasps with minimum joints accelerations. Third is the introduction of novel hybrid approach which uses both genetic algorithm and pattern search algorithm to find its global minima which is more robust for changing search space.
Soft Copy MS Robotics and Intelligent Machine Engineering