Autonomous contour tracking industrial robot using neuro fuzzy

A lot of work has been done to automate this process in order to realize self learning capability. Non contact contour tracking has potential in robotic glasssealing, welding and painting applications. In this aspect, the robot learns the contour surface to be tracking autonomously. However, one of...

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Main Author:	Saian, Easwandy
Format:	Thesis
Language:	English
Published:	2013
Subjects:	TJ Mechanical engineering and machinery
Online Access:	http://eprints.utm.my/id/eprint/33088/1/EaswandySaiianMFKE2013.pdf
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id	my-utm-ep.33088
record_format	uketd_dc
spelling	my-utm-ep.330882017-09-17T01:50:41Z Autonomous contour tracking industrial robot using neuro fuzzy 2013-01 Saian, Easwandy TJ Mechanical engineering and machinery A lot of work has been done to automate this process in order to realize self learning capability. Non contact contour tracking has potential in robotic glasssealing, welding and painting applications. In this aspect, the robot learns the contour surface to be tracking autonomously. However, one of the problems in contour following technique is how to allocate sample according to curve complexities. For a simple curve, it will have less sample points, while more complex one will be represented by more number of points. In order to realize the above-mentioned objectives, neuro fuzzy contour tracking analysis has been studied in this work. Two inputs and one output ANFIS has been created and it will be used to improve the curve error and noise level. There are more points on complex curve and lesser points on simple or flat curve. If the slope is sharp and the difference between the previous and current slope gradient is large, then it represents a complex curve which requires more number of sampling points. Based on this consideration, twenty-five fuzzy rule have been established and using ABB revolute robot. The analysis shows that the contour tracking using neuro fuzzy can be improved. 2013-01 Thesis http://eprints.utm.my/id/eprint/33088/ http://eprints.utm.my/id/eprint/33088/1/EaswandySaiianMFKE2013.pdf application/pdf en public http://dms.library.utm.my:8080/vital/access/manager/Repository/vital:69020?site_name=Restricted Repository masters Universiti Teknologi Malaysia, Faculty of Electrical Engineering Faculty of Electrical Engineering
institution	Universiti Teknologi Malaysia
collection	UTM Institutional Repository
language	English
topic	TJ Mechanical engineering and machinery
spellingShingle	TJ Mechanical engineering and machinery Saian, Easwandy Autonomous contour tracking industrial robot using neuro fuzzy
description	A lot of work has been done to automate this process in order to realize self learning capability. Non contact contour tracking has potential in robotic glasssealing, welding and painting applications. In this aspect, the robot learns the contour surface to be tracking autonomously. However, one of the problems in contour following technique is how to allocate sample according to curve complexities. For a simple curve, it will have less sample points, while more complex one will be represented by more number of points. In order to realize the above-mentioned objectives, neuro fuzzy contour tracking analysis has been studied in this work. Two inputs and one output ANFIS has been created and it will be used to improve the curve error and noise level. There are more points on complex curve and lesser points on simple or flat curve. If the slope is sharp and the difference between the previous and current slope gradient is large, then it represents a complex curve which requires more number of sampling points. Based on this consideration, twenty-five fuzzy rule have been established and using ABB revolute robot. The analysis shows that the contour tracking using neuro fuzzy can be improved.
format	Thesis
qualification_level	Master's degree
author	Saian, Easwandy
author_facet	Saian, Easwandy
author_sort	Saian, Easwandy
title	Autonomous contour tracking industrial robot using neuro fuzzy
title_short	Autonomous contour tracking industrial robot using neuro fuzzy
title_full	Autonomous contour tracking industrial robot using neuro fuzzy
title_fullStr	Autonomous contour tracking industrial robot using neuro fuzzy
title_full_unstemmed	Autonomous contour tracking industrial robot using neuro fuzzy
title_sort	autonomous contour tracking industrial robot using neuro fuzzy
granting_institution	Universiti Teknologi Malaysia, Faculty of Electrical Engineering
granting_department	Faculty of Electrical Engineering
publishDate	2013
url	http://eprints.utm.my/id/eprint/33088/1/EaswandySaiianMFKE2013.pdf
_version_	1747816076695044096

Autonomous contour tracking industrial robot using neuro fuzzy

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