Computational intelligence method for optimal rotary design system
The application of computational intelligence techniques to the field of industrial robot control is discussed. The core ideas behind using computation, evolutionary computation and fuzzy logic techniques are presented, along with a selection of specific real-world applications. The practical...
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| Format: | Thesis |
| Language: | en en en |
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2008
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| Online Access: | http://eprints.uthm.edu.my/7334/1/24p%20KANTAN%20P.SAMINATHAN.pdf http://eprints.uthm.edu.my/7334/2/KANTAN%20P.SAMINATHAN%20COPYRIGHT%20DECLARATION.pdf http://eprints.uthm.edu.my/7334/3/KANTAN%20P.SAMINATHAN%20WATERMARK.pdf http://eprints.uthm.edu.my/7334/ |
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| _version_ | 1833418347126980608 |
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| author | P.Saminathan, Kantan |
| author_facet | P.Saminathan, Kantan |
| author_sort | P.Saminathan, Kantan |
| building | UTHM Library |
| collection | Institutional Repository |
| content_provider | Universiti Tun Hussein Onn Malaysia |
| content_source | UTHM Institutional Repository |
| continent | Asia |
| country | Malaysia |
| description | The application of computational intelligence techniques to the field of
industrial robot control is discussed. The core ideas behind using computation,
evolutionary computation and fuzzy logic techniques are presented, along with a
selection of specific real-world applications. The practical advantages and
disadvantages relative to more traditional approaches are made clear. The objective
of this project was to investigate and compare different algorithms for the calculation
of velocity from position information. The best algorithm was applied to a small
robot arm system which consists of a controller (PC software), analog-to-digital and
digital-to-analog converter PC card, power amplifier, DC motor, gear train and
external load. Generally in robotic systems a velocity calculation is difficult or
impossible to implement because of noise. Here in the project, fuzzy logic will be
used to filter the noise from the position data before calculating velocity. The
purpose of this research is to design fuzzy logic feedback controller to position the
rotational system with one flexible joint. The system produces oscillations that need
to be dampen. Here the PD (without) controller, ON-OFF controller, Linear
Quadratic Regulator controller (LQR) and Fuzzy Logic controller (sugeno method)
are being used to solve the mentioned oscillatory problem. In order to control the
overall Rotary Flexible Joint System, the Fuzzy Logic controller (FLC) is designed
base upon the coefficients of the existing LQR controller. Comparison between four
controllers was being made through simulation and experiment and the results
showed that the fuzzy controller performed better than the other controllers. |
| format | Thesis |
| id | my.uthm.eprints-7334 |
| institution | Universiti Tun Hussein Onn Malaysia |
| language | en en en |
| publishDate | 2008 |
| record_format | eprints |
| spelling | my.uthm.eprints-73342022-07-21T03:57:09Z http://eprints.uthm.edu.my/7334/ Computational intelligence method for optimal rotary design system P.Saminathan, Kantan QA Mathematics QA76 Computer software The application of computational intelligence techniques to the field of industrial robot control is discussed. The core ideas behind using computation, evolutionary computation and fuzzy logic techniques are presented, along with a selection of specific real-world applications. The practical advantages and disadvantages relative to more traditional approaches are made clear. The objective of this project was to investigate and compare different algorithms for the calculation of velocity from position information. The best algorithm was applied to a small robot arm system which consists of a controller (PC software), analog-to-digital and digital-to-analog converter PC card, power amplifier, DC motor, gear train and external load. Generally in robotic systems a velocity calculation is difficult or impossible to implement because of noise. Here in the project, fuzzy logic will be used to filter the noise from the position data before calculating velocity. The purpose of this research is to design fuzzy logic feedback controller to position the rotational system with one flexible joint. The system produces oscillations that need to be dampen. Here the PD (without) controller, ON-OFF controller, Linear Quadratic Regulator controller (LQR) and Fuzzy Logic controller (sugeno method) are being used to solve the mentioned oscillatory problem. In order to control the overall Rotary Flexible Joint System, the Fuzzy Logic controller (FLC) is designed base upon the coefficients of the existing LQR controller. Comparison between four controllers was being made through simulation and experiment and the results showed that the fuzzy controller performed better than the other controllers. 2008-11 Thesis NonPeerReviewed text en http://eprints.uthm.edu.my/7334/1/24p%20KANTAN%20P.SAMINATHAN.pdf text en http://eprints.uthm.edu.my/7334/2/KANTAN%20P.SAMINATHAN%20COPYRIGHT%20DECLARATION.pdf text en http://eprints.uthm.edu.my/7334/3/KANTAN%20P.SAMINATHAN%20WATERMARK.pdf P.Saminathan, Kantan (2008) Computational intelligence method for optimal rotary design system. Masters thesis, Universiti Tun Hussein Onn Malaysia. |
| spellingShingle | QA Mathematics QA76 Computer software P.Saminathan, Kantan Computational intelligence method for optimal rotary design system |
| title | Computational intelligence method for optimal rotary design system |
| title_full | Computational intelligence method for optimal rotary design system |
| title_fullStr | Computational intelligence method for optimal rotary design system |
| title_full_unstemmed | Computational intelligence method for optimal rotary design system |
| title_short | Computational intelligence method for optimal rotary design system |
| title_sort | computational intelligence method for optimal rotary design system |
| topic | QA Mathematics QA76 Computer software |
| url | http://eprints.uthm.edu.my/7334/1/24p%20KANTAN%20P.SAMINATHAN.pdf http://eprints.uthm.edu.my/7334/2/KANTAN%20P.SAMINATHAN%20COPYRIGHT%20DECLARATION.pdf http://eprints.uthm.edu.my/7334/3/KANTAN%20P.SAMINATHAN%20WATERMARK.pdf http://eprints.uthm.edu.my/7334/ |
| url_provider | http://eprints.uthm.edu.my/ |