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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主要作者: Abdul Kadir, Ahmad Muzaffar
格式: Thesis
语言:English
出版: 2013
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在线阅读:http://eprints.utm.my/id/eprint/33087/5/AMuzaffarAbdulKadirMFKE2013.pdf
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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