A robotic manipulator trajectory monitoring system in virtual environment
The user interface or commonly known as human–computer interaction (HCI) has become the focus of most researches as the usage of computers increases in nearly all manufacturing machines. The design parameters of HCI include hardware and software related parameters. Virtual Environment (VE) can be...
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| Main Author: | |
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| Format: | Thesis |
| Language: | English |
| Published: |
2018
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| Subjects: | |
| Online Access: | http://psasir.upm.edu.my/id/eprint/77394/1/FK%202019%202%20UPMIR.pdf |
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| Summary: | The user interface or commonly known as human–computer interaction (HCI) has
become the focus of most researches as the usage of computers increases in nearly
all manufacturing machines. The design parameters of HCI include hardware and
software related parameters. Virtual Environment (VE) can be employed to interpret
these interactions; however it is challenging to integrate VE-assisted simulation tools
because the hazard of touching the machine and the difficulty of monitoring are
among the most prominent problems in intelligent industries. Many accidents have
been associated with robot manipulator operations, where the total number of
fatalities in the United States was 4,585 and over 1,300 workers were injured in
2013, because of hardware and software complexity or the insufficient knowledge
and skills of technicians in operating and monitoring the equipment. The accurate
control of motion axes is a fundamental concern in intelligent industries, in which an
exact end-effector trajectory is required at the correct time. It is also essential for
efficient system operation and to predict the position and time error of the trajectory.
Therefore, there is a need for a solution that can provide convenient and intuitive
robot manipulator control with user’s location independence, easy adjustment and
simultaneous monitoring of robot manipulator motion tasks. The main objective of
this research is to develop a robotic manipulator trajectory monitoring system in VE.
Therefore, the first objective is to enhance monitoring trajectory system of robot
manipulator using wireless control system. Additionally, to describe the trajectory a
mathematical model and parameter optimization based on VE data was derived. This
work adopts a robot manipulator as a scale down of the actual industrial machine.
The Zigbee-based wireless communication system consists of only a pair of XBee
S1 Pro. MATLAB graphical user interface GUI-based environment involving the 3-
D animation of the actual structure is presented to demonstrate real-time moving of
the end-effector trajectory. An integrated VE control and monitoring trajectory
(VECMT) was built by matching the digital information with the user’s
environment, and a mathematical model was derived for the 3D structural mechanism to verify the VECMT system. In order to model the system hardware
which was used to predict robot manipulator trajectory and enhance the overall
monitoring system, Nonlinear Least Squares method was used as a measurementbased
parameter optimization procedure. Therefore, this work presents several novel
contributions to improve the trajectory state robot manipulator in VE. Firstly, the
main achievement of this work is low power consumption for a wireless data
network for 3D position monitoring, the proposed approach is efficient in terms of
user cost level contribution because it adopts the concept of signal matching in the
software configuration of components and a suitable selection of components
dispenses of additional microcontrollers which ultimately achieves economic cost
reduction. Secondly, the user perceives an integrated computer-based work
environment and allows the user to easily merge the real world with a computer
based environment in a high accuracy of 98.53% for elbow’s joint and 97.5% for the
base’s joint. The estimation of the parameter simulation has been verified by
comparing the target data with response data that shows a very good convergence
(97.87% for elbow and 98.69% for base). |
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