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Autonomous contour tracking industrial robot by using type-2 fuzzy logic

This research is focusing on the improvement of the tracking method done for industrial robots by using On-Off method. The On-Off method is developed previously as a solution for the autonomous tracking method. The reason for improvement of the On-Off method is because the tracking error and deviati...

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Main Author: Abdul Kadir, Ahmad Muzaffar
Format: Thesis
Language:English
Published: 2013
Subjects:
TK Electrical engineering. Electronics Nuclear engineering
Online Access:http://eprints.utm.my/id/eprint/33087/5/AMuzaffarAbdulKadirMFKE2013.pdf
http://eprints.utm.my/id/eprint/33087/
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spelling my.utm.330872017-07-24T04:26:27Z http://eprints.utm.my/id/eprint/33087/ Autonomous contour tracking industrial robot by using type-2 fuzzy logic Abdul Kadir, Ahmad Muzaffar TK Electrical engineering. Electronics Nuclear engineering This research is focusing on the improvement of the tracking method done for industrial robots by using On-Off method. The On-Off method is developed previously as a solution for the autonomous tracking method. The reason for improvement of the On-Off method is because the tracking error and deviation from targeted contour is exceptionally large. Improvements are done by using Artificial Intelligence methods which are Type-1 and Type-2 Fuzzy Logic Systems. The mean error and standard deviation for the tracking has been suppressed. This includes the improvement of the tracking time efficiency for the whole contour. The industrial robot selected to perform the actual tracking motion is the ABB Revolute Robot IRB1410 with 6 degree of freedom. It is to represent the realistic condition of the industrial and the real world application. For the sensor, a proximity photoelectric sensor diffused type is used for contour surface detection signal. It is chosen for its versatility in detecting any type of material used for the targeted contour surface. 2013-01 Thesis NonPeerReviewed application/pdf en http://eprints.utm.my/id/eprint/33087/5/AMuzaffarAbdulKadirMFKE2013.pdf Abdul Kadir, Ahmad Muzaffar (2013) Autonomous contour tracking industrial robot by using type-2 fuzzy logic. Masters thesis, Universiti Teknologi Malaysia, Faculty of Electrical Engineering.
institution Universiti Teknologi Malaysia
building UTM Library
collection Institutional Repository
continent Asia
country Malaysia
content_provider Universiti Teknologi Malaysia
content_source UTM Institutional Repository
url_provider http://eprints.utm.my/
language English
topic TK Electrical engineering. Electronics Nuclear engineering
spellingShingle TK Electrical engineering. Electronics Nuclear engineering
Abdul Kadir, Ahmad Muzaffar
Autonomous contour tracking industrial robot by using type-2 fuzzy logic
description This research is focusing on the improvement of the tracking method done for industrial robots by using On-Off method. The On-Off method is developed previously as a solution for the autonomous tracking method. The reason for improvement of the On-Off method is because the tracking error and deviation from targeted contour is exceptionally large. Improvements are done by using Artificial Intelligence methods which are Type-1 and Type-2 Fuzzy Logic Systems. The mean error and standard deviation for the tracking has been suppressed. This includes the improvement of the tracking time efficiency for the whole contour. The industrial robot selected to perform the actual tracking motion is the ABB Revolute Robot IRB1410 with 6 degree of freedom. It is to represent the realistic condition of the industrial and the real world application. For the sensor, a proximity photoelectric sensor diffused type is used for contour surface detection signal. It is chosen for its versatility in detecting any type of material used for the targeted contour surface.
format Thesis
author Abdul Kadir, Ahmad Muzaffar
author_facet Abdul Kadir, Ahmad Muzaffar
author_sort Abdul Kadir, Ahmad Muzaffar
title Autonomous contour tracking industrial robot by using type-2 fuzzy logic
title_short Autonomous contour tracking industrial robot by using type-2 fuzzy logic
title_full Autonomous contour tracking industrial robot by using type-2 fuzzy logic
title_fullStr Autonomous contour tracking industrial robot by using type-2 fuzzy logic
title_full_unstemmed Autonomous contour tracking industrial robot by using type-2 fuzzy logic
title_sort autonomous contour tracking industrial robot by using type-2 fuzzy logic
publishDate 2013
url http://eprints.utm.my/id/eprint/33087/5/AMuzaffarAbdulKadirMFKE2013.pdf
http://eprints.utm.my/id/eprint/33087/
_version_ 1643649226947690496
score 13.211869

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