Optimal Pose Estimation of Robotic Manipulator For Pick And Place Application / (Record no. 609108)
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| 000 -LEADER | |
|---|---|
| fixed length control field | 02167nam a22001577a 4500 |
| 082 ## - DEWEY DECIMAL CLASSIFICATION NUMBER | |
| Classification number | 629.8 |
| 100 ## - MAIN ENTRY--PERSONAL NAME | |
| Personal name | Farrukh, Uzair |
| 245 ## - TITLE STATEMENT | |
| Title | Optimal Pose Estimation of Robotic Manipulator For Pick And Place Application / |
| Statement of responsibility, etc. | Uzair Farrukh |
| 264 ## - PRODUCTION, PUBLICATION, DISTRIBUTION, MANUFACTURE, AND COPYRIGHT NOTICE | |
| Place of production, publication, distribution, manufacture | Islamabad : |
| Name of producer, publisher, distributor, manufacturer | SMME- NUST; |
| Date of production, publication, distribution, manufacture, or copyright notice | 2022. |
| 300 ## - PHYSICAL DESCRIPTION | |
| Extent | 46p. |
| Other physical details | Soft Copy |
| Dimensions | 30cm |
| 500 ## - GENERAL NOTE | |
| General note | This thesis examines how to use robotic manipulator to pick specific object. In order<br/>to attain above objective planning of manipulator as well as grasping point calculations<br/>are studied. The process of calculating grasping pose with respect to target object,the<br/>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<br/>uses human like strategies, analytical approaches are mainly dependent on geometric,<br/>kinematic, and/or dynamic formulations. The main goal of the thesis is to minimize<br/>joint accelerations. Constrained optimization techniques like genetic algorithm and path<br/>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<br/>both genetic algorithm and path search algorithm to find its fitness value. The first<br/>contribution is finding optimal grasping points of regular shaped object by calculating<br/>centroid of object and are near to centroid along minor axis. The second contribution<br/>is to minimize joint accelerations by using optimization techniques of genetic algorithm<br/>and path search algorithm in which global minima’s are found and optimized trajectory<br/>is generated which helps in successful grasps with minimum joints accelerations. Third<br/>is the introduction of novel hybrid approach which uses both genetic algorithm and<br/>pattern search algorithm to find its global minima which is more robust for changing<br/>search space. |
| 650 ## - SUBJECT ADDED ENTRY--TOPICAL TERM | |
| Topical term or geographic name entry element | Soft Copy MS Robotics and Intelligent Machine Engineering |
| 700 ## - ADDED ENTRY--PERSONAL NAME | |
| Personal name | Supervisor : Dr. Karam Dad Kallu |
| 856 ## - ELECTRONIC LOCATION AND ACCESS | |
| Uniform Resource Identifier | <a href="http://10.250.8.41:8080/xmlui/handle/123456789/30856">http://10.250.8.41:8080/xmlui/handle/123456789/30856</a> |
| 942 ## - ADDED ENTRY ELEMENTS (KOHA) | |
| Source of classification or shelving scheme | |
| Koha item type | Thesis |
| Withdrawn status | Permanent Location | Current Location | Shelving location | Date acquired | Full call number | Barcode | Koha item type |
|---|---|---|---|---|---|---|---|
| School of Mechanical & Manufacturing Engineering (SMME) | School of Mechanical & Manufacturing Engineering (SMME) | E-Books | 05/14/2024 | 629.8 | SMME-TH-737 | Thesis |