The application of intelligent active force control of a robot manipulator in surface finishing processes

In manufacturing, and industrial robot is often used to manipulate objects (work pieces) either in free or constrained environments. The latter is more critical since it involves significant interaction of forces between the robot's end-effector, object and its surrounding which can directly af...

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Main Author:	Rakiman, Khairol Anuar
Format:	Thesis
Language:	English
Published:	2003
Subjects:	TS Manufactures
Online Access:	http://eprints.utm.my/id/eprint/42776/1/KhairulAnuarRahmanMFM2003.pdf
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id	my-utm-ep.42776
record_format	uketd_dc
spelling	my-utm-ep.427762017-10-10T07:07:22Z The application of intelligent active force control of a robot manipulator in surface finishing processes 2003 Rakiman, Khairol Anuar TS Manufactures In manufacturing, and industrial robot is often used to manipulate objects (work pieces) either in free or constrained environments. The latter is more critical since it involves significant interaction of forces between the robot's end-effector, object and its surrounding which can directly affect the performance (accuracy) ofthe robot. Typical robotic tasks include de-burring, machining, contour/profile tracking, welding assembly, polishing and pick-and-transfer operations. Thus, the study of robot force control is a potential area ofresearch to address the problems as it seeks ways to counteract them effectively and robustly. The proposed research is aimed at investigating and analyzing the effects of changing various parameters including the different loading and operating conditions in a robotic control system. A rigorous simulation study was conducted particularly on the trajectory tracking performance of a two-link planar robot that is assumed to execute grinding and deburring processes. Active force control with intelligent elements was used in the study. The effectiveness of the proposed control scheme was verified and also compared with the conventional proportional-plus- derivative (PD) counterpart. 2003 Thesis http://eprints.utm.my/id/eprint/42776/ http://eprints.utm.my/id/eprint/42776/1/KhairulAnuarRahmanMFM2003.pdf application/pdf en public http://p8080-dms.library.utm.my.ezproxy.utm.my/vital/access/services/Download/vital:9415/SOURCE?view=true masters Universiti Teknologi Malaysia, Faculty of Mechanical Engineering Faculty of Mechanical Engineering
institution	Universiti Teknologi Malaysia
collection	UTM Institutional Repository
language	English
topic	TS Manufactures
spellingShingle	TS Manufactures Rakiman, Khairol Anuar The application of intelligent active force control of a robot manipulator in surface finishing processes
description	In manufacturing, and industrial robot is often used to manipulate objects (work pieces) either in free or constrained environments. The latter is more critical since it involves significant interaction of forces between the robot's end-effector, object and its surrounding which can directly affect the performance (accuracy) ofthe robot. Typical robotic tasks include de-burring, machining, contour/profile tracking, welding assembly, polishing and pick-and-transfer operations. Thus, the study of robot force control is a potential area ofresearch to address the problems as it seeks ways to counteract them effectively and robustly. The proposed research is aimed at investigating and analyzing the effects of changing various parameters including the different loading and operating conditions in a robotic control system. A rigorous simulation study was conducted particularly on the trajectory tracking performance of a two-link planar robot that is assumed to execute grinding and deburring processes. Active force control with intelligent elements was used in the study. The effectiveness of the proposed control scheme was verified and also compared with the conventional proportional-plus- derivative (PD) counterpart.
format	Thesis
qualification_level	Master's degree
author	Rakiman, Khairol Anuar
author_facet	Rakiman, Khairol Anuar
author_sort	Rakiman, Khairol Anuar
title	The application of intelligent active force control of a robot manipulator in surface finishing processes
title_short	The application of intelligent active force control of a robot manipulator in surface finishing processes
title_full	The application of intelligent active force control of a robot manipulator in surface finishing processes
title_fullStr	The application of intelligent active force control of a robot manipulator in surface finishing processes
title_full_unstemmed	The application of intelligent active force control of a robot manipulator in surface finishing processes
title_sort	application of intelligent active force control of a robot manipulator in surface finishing processes
granting_institution	Universiti Teknologi Malaysia, Faculty of Mechanical Engineering
granting_department	Faculty of Mechanical Engineering
publishDate	2003
url	http://eprints.utm.my/id/eprint/42776/1/KhairulAnuarRahmanMFM2003.pdf
_version_	1747816851942932480

The application of intelligent active force control of a robot manipulator in surface finishing processes

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