Development of a genetic algorithm controller for cartesian robot

In some daily tasks such as drilling, laser marking or spot welding application, the Cartesian robot is requested to reach with its hand tip to a desired target location. Such tasks become more complex if it has to handle multiple points in shortest travelling time and space. It is with these...

Full description

Saved in:

Bibliographic Details
Main Author:	Ong, Joo Hun
Format:	Thesis
Language:	English English English
Published:	2008
Subjects:	TJ Mechanical engineering and machinery
Online Access:	http://eprints.uthm.edu.my/7413/1/24p%20ONG%20JOO%20HUN.pdf http://eprints.uthm.edu.my/7413/2/ONG%20JOO%20HUN%20COPYRIGHT%20DECLARATION.pdf http://eprints.uthm.edu.my/7413/3/ONG%20JOO%20HUN%20WATERMARK.pdf
Tags:	Add Tag No Tags, Be the first to tag this record!

id	my-uthm-ep.7413
record_format	uketd_dc
spelling	my-uthm-ep.74132022-07-21T07:20:12Z Development of a genetic algorithm controller for cartesian robot 2008-11 Ong, Joo Hun TJ Mechanical engineering and machinery TJ210.2-211.47 Mechanical devices and figures. Automata. Ingenious mechanisms. Robots (General) In some daily tasks such as drilling, laser marking or spot welding application, the Cartesian robot is requested to reach with its hand tip to a desired target location. Such tasks become more complex if it has to handle multiple points in shortest travelling time and space. It is with these reasons that this study was conducted with the primary objective to develop a computational intelligent system that would contribute towards encouraging a productive and quality way of material handling and processing. The objective of this project is to design, develop and optimize the performance of a Cartesian robotic arm in terms of its positioning and speed to perform spot welding application. The genetic algorithm (GA) will be introduce, it will be able to look for the optimum sequences to solve its path planning via evolutionary solutions. GA will determine the best combination paths in order to minimize the total motion of welding time in shortest travel distance. The new algorithm is tested and implemented in this Cartesian robot. Laser pointer will replace the spot welding torch for the demonstration purpose in this project. This project involves in developing a machine learning system that is capable of performing independent learning capability for a given tasks. The design and development of this project will involve two major sections. First section concerns about the hardware construction, wiring and testing. Second section involves software design to control the movement of the robot for the spot welding. The hardware design can be categorized into two aspects i.e. the electrical design and mechanical design. The electrical design involves wiring of control components such as the stepper motor controller, input and output devices as well as the power supply and the safety devices. Finally, the developed algorithm will been tested and implemented into in this Cartesian robot system. 2008-11 Thesis http://eprints.uthm.edu.my/7413/ http://eprints.uthm.edu.my/7413/1/24p%20ONG%20JOO%20HUN.pdf text en public http://eprints.uthm.edu.my/7413/2/ONG%20JOO%20HUN%20COPYRIGHT%20DECLARATION.pdf text en staffonly http://eprints.uthm.edu.my/7413/3/ONG%20JOO%20HUN%20WATERMARK.pdf text en validuser mphil masters Universiti Tun Hussein Onn Malaysia Fakulti Kejuruteraan Elektrik dan Elektronik
institution	Universiti Tun Hussein Onn Malaysia
collection	UTHM Institutional Repository
language	English English English
topic	TJ Mechanical engineering and machinery TJ Mechanical engineering and machinery
spellingShingle	TJ Mechanical engineering and machinery TJ Mechanical engineering and machinery Ong, Joo Hun Development of a genetic algorithm controller for cartesian robot
description	In some daily tasks such as drilling, laser marking or spot welding application, the Cartesian robot is requested to reach with its hand tip to a desired target location. Such tasks become more complex if it has to handle multiple points in shortest travelling time and space. It is with these reasons that this study was conducted with the primary objective to develop a computational intelligent system that would contribute towards encouraging a productive and quality way of material handling and processing. The objective of this project is to design, develop and optimize the performance of a Cartesian robotic arm in terms of its positioning and speed to perform spot welding application. The genetic algorithm (GA) will be introduce, it will be able to look for the optimum sequences to solve its path planning via evolutionary solutions. GA will determine the best combination paths in order to minimize the total motion of welding time in shortest travel distance. The new algorithm is tested and implemented in this Cartesian robot. Laser pointer will replace the spot welding torch for the demonstration purpose in this project. This project involves in developing a machine learning system that is capable of performing independent learning capability for a given tasks. The design and development of this project will involve two major sections. First section concerns about the hardware construction, wiring and testing. Second section involves software design to control the movement of the robot for the spot welding. The hardware design can be categorized into two aspects i.e. the electrical design and mechanical design. The electrical design involves wiring of control components such as the stepper motor controller, input and output devices as well as the power supply and the safety devices. Finally, the developed algorithm will been tested and implemented into in this Cartesian robot system.
format	Thesis
qualification_name	Master of Philosophy (M.Phil.)
qualification_level	Master's degree
author	Ong, Joo Hun
author_facet	Ong, Joo Hun
author_sort	Ong, Joo Hun
title	Development of a genetic algorithm controller for cartesian robot
title_short	Development of a genetic algorithm controller for cartesian robot
title_full	Development of a genetic algorithm controller for cartesian robot
title_fullStr	Development of a genetic algorithm controller for cartesian robot
title_full_unstemmed	Development of a genetic algorithm controller for cartesian robot
title_sort	development of a genetic algorithm controller for cartesian robot
granting_institution	Universiti Tun Hussein Onn Malaysia
granting_department	Fakulti Kejuruteraan Elektrik dan Elektronik
publishDate	2008
url	http://eprints.uthm.edu.my/7413/1/24p%20ONG%20JOO%20HUN.pdf http://eprints.uthm.edu.my/7413/2/ONG%20JOO%20HUN%20COPYRIGHT%20DECLARATION.pdf http://eprints.uthm.edu.my/7413/3/ONG%20JOO%20HUN%20WATERMARK.pdf
_version_	1747831148962119680

Development of a genetic algorithm controller for cartesian robot

Similar Items