Autonomous contour tracking industrial robot by using type-2 fuzzy logic

This research is focusing on the improvement of the tracking method done for industrial robots by using On-Off method. The On-Off method is developed previously as a solution for the autonomous tracking method. The reason for improvement of the On-Off method is because the tracking error and deviati...

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Bibliographic Details
Main Author:	Abdul Kadir, Ahmad Muzaffar
Format:	Thesis
Language:	English
Published:	2013
Subjects:	TK Electrical engineering Electronics Nuclear engineering
Online Access:	http://eprints.utm.my/id/eprint/33087/5/AMuzaffarAbdulKadirMFKE2013.pdf
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id	my-utm-ep.33087
record_format	uketd_dc
spelling	my-utm-ep.330872017-07-24T04:26:27Z Autonomous contour tracking industrial robot by using type-2 fuzzy logic 2013-01 Abdul Kadir, Ahmad Muzaffar TK Electrical engineering. Electronics Nuclear engineering This research is focusing on the improvement of the tracking method done for industrial robots by using On-Off method. The On-Off method is developed previously as a solution for the autonomous tracking method. The reason for improvement of the On-Off method is because the tracking error and deviation from targeted contour is exceptionally large. Improvements are done by using Artificial Intelligence methods which are Type-1 and Type-2 Fuzzy Logic Systems. The mean error and standard deviation for the tracking has been suppressed. This includes the improvement of the tracking time efficiency for the whole contour. The industrial robot selected to perform the actual tracking motion is the ABB Revolute Robot IRB1410 with 6 degree of freedom. It is to represent the realistic condition of the industrial and the real world application. For the sensor, a proximity photoelectric sensor diffused type is used for contour surface detection signal. It is chosen for its versatility in detecting any type of material used for the targeted contour surface. 2013-01 Thesis http://eprints.utm.my/id/eprint/33087/ http://eprints.utm.my/id/eprint/33087/5/AMuzaffarAbdulKadirMFKE2013.pdf application/pdf en public masters Universiti Teknologi Malaysia, Faculty of Electrical Engineering Faculty of Electrical Engineering
institution	Universiti Teknologi Malaysia
collection	UTM Institutional Repository
language	English
topic	TK Electrical engineering Electronics Nuclear engineering
spellingShingle	TK Electrical engineering Electronics Nuclear engineering Abdul Kadir, Ahmad Muzaffar Autonomous contour tracking industrial robot by using type-2 fuzzy logic
description	This research is focusing on the improvement of the tracking method done for industrial robots by using On-Off method. The On-Off method is developed previously as a solution for the autonomous tracking method. The reason for improvement of the On-Off method is because the tracking error and deviation from targeted contour is exceptionally large. Improvements are done by using Artificial Intelligence methods which are Type-1 and Type-2 Fuzzy Logic Systems. The mean error and standard deviation for the tracking has been suppressed. This includes the improvement of the tracking time efficiency for the whole contour. The industrial robot selected to perform the actual tracking motion is the ABB Revolute Robot IRB1410 with 6 degree of freedom. It is to represent the realistic condition of the industrial and the real world application. For the sensor, a proximity photoelectric sensor diffused type is used for contour surface detection signal. It is chosen for its versatility in detecting any type of material used for the targeted contour surface.
format	Thesis
qualification_level	Master's degree
author	Abdul Kadir, Ahmad Muzaffar
author_facet	Abdul Kadir, Ahmad Muzaffar
author_sort	Abdul Kadir, Ahmad Muzaffar
title	Autonomous contour tracking industrial robot by using type-2 fuzzy logic
title_short	Autonomous contour tracking industrial robot by using type-2 fuzzy logic
title_full	Autonomous contour tracking industrial robot by using type-2 fuzzy logic
title_fullStr	Autonomous contour tracking industrial robot by using type-2 fuzzy logic
title_full_unstemmed	Autonomous contour tracking industrial robot by using type-2 fuzzy logic
title_sort	autonomous contour tracking industrial robot by using type-2 fuzzy logic
granting_institution	Universiti Teknologi Malaysia, Faculty of Electrical Engineering
granting_department	Faculty of Electrical Engineering
publishDate	2013
url	http://eprints.utm.my/id/eprint/33087/5/AMuzaffarAbdulKadirMFKE2013.pdf
_version_	1747816076447580160

Autonomous contour tracking industrial robot by using type-2 fuzzy logic

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