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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
http://eprints.utm.my/id/eprint/42834/
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=
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id my.utm.42834
record_format eprints
spelling my.utm.428342020-10-08T00:57:55Z http://eprints.utm.my/id/eprint/42834/ An implementation of a knowledge-based system method to an active force control robotic scheme 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 NonPeerReviewed application/pdf en http://eprints.utm.my/id/eprint/42834/1/EndraPitowarnoFKM2002.pdf Pitowarno, Endra (2002) An implementation of a knowledge-based system method to an active force control robotic scheme. Masters thesis, Universiti Teknologi Malaysia, Faculty of Mechanical Engineering. 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=
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 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
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
publishDate 2002
url http://eprints.utm.my/id/eprint/42834/1/EndraPitowarnoFKM2002.pdf
http://eprints.utm.my/id/eprint/42834/
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=
_version_ 1681489441464516608
score 13.211869

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