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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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Main Author: Ong, Joo Hun
Format: Thesis
Language:English
English
English
Published: 2008
Subjects:
TJ Mechanical engineering and machinery
TJ210.2-211.47 Mechanical devices and figures. Automata. Ingenious mechanisms. Robots (General)
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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spelling my.uthm.eprints.74132022-07-21T07:20:12Z http://eprints.uthm.edu.my/7413/ Development of a genetic algorithm controller for cartesian robot Ong, Joo Hun TJ Mechanical engineering and machinery TJ210.2-211.47 Mechanical devices and figures. Automata. Ingenious mechanisms. Robots (General) 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. 2008-11 Thesis NonPeerReviewed text en http://eprints.uthm.edu.my/7413/1/24p%20ONG%20JOO%20HUN.pdf text en http://eprints.uthm.edu.my/7413/2/ONG%20JOO%20HUN%20COPYRIGHT%20DECLARATION.pdf text en http://eprints.uthm.edu.my/7413/3/ONG%20JOO%20HUN%20WATERMARK.pdf Ong, Joo Hun (2008) Development of a genetic algorithm controller for cartesian robot. Masters thesis, Universiti Tun Hussein Onn Malaysia.
institution Universiti Tun Hussein Onn Malaysia
building UTHM Library
collection Institutional Repository
continent Asia
country Malaysia
content_provider Universiti Tun Hussein Onn Malaysia
content_source UTHM Institutional Repository
url_provider http://eprints.uthm.edu.my/
language English
English
English
topic TJ Mechanical engineering and machinery
TJ210.2-211.47 Mechanical devices and figures. Automata. Ingenious mechanisms. Robots (General)
spellingShingle TJ Mechanical engineering and machinery
TJ210.2-211.47 Mechanical devices and figures. Automata. Ingenious mechanisms. Robots (General)
Ong, Joo Hun
Development of a genetic algorithm controller for cartesian robot
description 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.
format Thesis
author Ong, Joo Hun
author_facet Ong, Joo Hun
author_sort Ong, Joo Hun
title Development of a genetic algorithm controller for cartesian robot
title_short Development of a genetic algorithm controller for cartesian robot
title_full Development of a genetic algorithm controller for cartesian robot
title_fullStr Development of a genetic algorithm controller for cartesian robot
title_full_unstemmed Development of a genetic algorithm controller for cartesian robot
title_sort development of a genetic algorithm controller for cartesian robot
publishDate 2008
url 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/
_version_ 1739830455520198656
score 13.211869

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