Development of a genetic algorithm controller for cartesian robot
In some daily tasks such as drilling, laser marking or spot welding application, the Cartesian robot is requested to reach with its hand tip to a desired target location. Such tasks become more complex if it has to handle multiple points in shortest travelling time and space. It is with these...
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| Format: | Thesis |
| Language: | English English English |
| Published: |
2008
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| Subjects: | |
| Online Access: | http://eprints.uthm.edu.my/7413/1/24p%20ONG%20JOO%20HUN.pdf http://eprints.uthm.edu.my/7413/2/ONG%20JOO%20HUN%20COPYRIGHT%20DECLARATION.pdf http://eprints.uthm.edu.my/7413/3/ONG%20JOO%20HUN%20WATERMARK.pdf http://eprints.uthm.edu.my/7413/ |
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| Summary: | In some daily tasks such as drilling, laser marking or spot welding
application, the Cartesian robot is requested to reach with its hand tip to a desired
target location. Such tasks become more complex if it has to handle multiple points
in shortest travelling time and space. It is with these reasons that this study was
conducted with the primary objective to develop a computational intelligent system
that would contribute towards encouraging a productive and quality way of material
handling and processing. The objective of this project is to design, develop and
optimize the performance of a Cartesian robotic arm in terms of its positioning and
speed to perform spot welding application. The genetic algorithm (GA) will be
introduce, it will be able to look for the optimum sequences to solve its path planning
via evolutionary solutions. GA will determine the best combination paths in order to
minimize the total motion of welding time in shortest travel distance. The new
algorithm is tested and implemented in this Cartesian robot. Laser pointer will
replace the spot welding torch for the demonstration purpose in this project. This
project involves in developing a machine learning system that is capable of
performing independent learning capability for a given tasks. The design and
development of this project will involve two major sections. First section concerns
about the hardware construction, wiring and testing. Second section involves
software design to control the movement of the robot for the spot welding. The
hardware design can be categorized into two aspects i.e. the electrical design and
mechanical design. The electrical design involves wiring of control components such
as the stepper motor controller, input and output devices as well as the power supply
and the safety devices. Finally, the developed algorithm will been tested and
implemented into in this Cartesian robot system. |
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