An implementation of a knowledge-based system method to an active force control robotic scheme

This thesis presents a method to improve the response of a robotic control system in order to obtain a more robust system performance using an active force control with a knowledge-based system method called the Active Force Control and Knowledge-Based System (AFCKBS). The focus ofthe study is the i...

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Main Author:	Pitowarno, Endra
Format:	Thesis
Language:	English
Published:	2002
Subjects:	TJ Mechanical engineering and machinery
Online Access:	http://eprints.utm.my/id/eprint/42834/1/EndraPitowarnoFKM2002.pdf
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id	my-utm-ep.42834
record_format	uketd_dc
spelling	my-utm-ep.428342020-10-08T00:57:55Z An implementation of a knowledge-based system method to an active force control robotic scheme 2002 Pitowarno, Endra TJ Mechanical engineering and machinery This thesis presents a method to improve the response of a robotic control system in order to obtain a more robust system performance using an active force control with a knowledge-based system method called the Active Force Control and Knowledge-Based System (AFCKBS). The focus ofthe study is the implementation of a mechanism to refme the trajectory error generated by an Active Force Control (AFC) scheme applied to a two-link robotic planar arm. This is accomplished by utilizing features ofthe signal patterns produced by the input and output functions. Based on the previous research that employed a number ofrobotic control schemes, knowledge ofthe trajectory track error pattern was obtained when a specific trajectory tracking command was forced to the system. The correlation between the generated track error pattern and the input function of the robot scheme provides the essential knowledge to be utilized via the proposed technique. A simulation and experimental study was performed and the result obtained was consequently analyzed and compared to show the performance enhancement in the proposed method. 2002 Thesis http://eprints.utm.my/id/eprint/42834/ http://eprints.utm.my/id/eprint/42834/1/EndraPitowarnoFKM2002.pdf application/pdf en public http://libraryopac.utm.my/client/en_AU/main/search/results/?lm=&qu=An+implementation+of+a+knowledge-based+system+method+to+an+active+force+control+robotic+scheme+&rt=&submit= masters Universiti Teknologi Malaysia, Faculty of Mechanical Engineering Faculty of Mechanical Engineering
institution	Universiti Teknologi Malaysia
collection	UTM Institutional Repository
language	English
topic	TJ Mechanical engineering and machinery
spellingShingle	TJ Mechanical engineering and machinery Pitowarno, Endra An implementation of a knowledge-based system method to an active force control robotic scheme
description	This thesis presents a method to improve the response of a robotic control system in order to obtain a more robust system performance using an active force control with a knowledge-based system method called the Active Force Control and Knowledge-Based System (AFCKBS). The focus ofthe study is the implementation of a mechanism to refme the trajectory error generated by an Active Force Control (AFC) scheme applied to a two-link robotic planar arm. This is accomplished by utilizing features ofthe signal patterns produced by the input and output functions. Based on the previous research that employed a number ofrobotic control schemes, knowledge ofthe trajectory track error pattern was obtained when a specific trajectory tracking command was forced to the system. The correlation between the generated track error pattern and the input function of the robot scheme provides the essential knowledge to be utilized via the proposed technique. A simulation and experimental study was performed and the result obtained was consequently analyzed and compared to show the performance enhancement in the proposed method.
format	Thesis
qualification_level	Master's degree
author	Pitowarno, Endra
author_facet	Pitowarno, Endra
author_sort	Pitowarno, Endra
title	An implementation of a knowledge-based system method to an active force control robotic scheme
title_short	An implementation of a knowledge-based system method to an active force control robotic scheme
title_full	An implementation of a knowledge-based system method to an active force control robotic scheme
title_fullStr	An implementation of a knowledge-based system method to an active force control robotic scheme
title_full_unstemmed	An implementation of a knowledge-based system method to an active force control robotic scheme
title_sort	implementation of a knowledge-based system method to an active force control robotic scheme
granting_institution	Universiti Teknologi Malaysia, Faculty of Mechanical Engineering
granting_department	Faculty of Mechanical Engineering
publishDate	2002
url	http://eprints.utm.my/id/eprint/42834/1/EndraPitowarnoFKM2002.pdf
_version_	1747816866122825728

An implementation of a knowledge-based system method to an active force control robotic scheme

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