Design and implementation of enhanced fuzzycontroller for tip position 6 DOF robotmanipulator

مقدم أطروحة جامعية

Salih, Muhammad Salman

مشرف أطروحة جامعية

al-Fayiz, Muhammad Z.

الجامعة

الجامعة التكنولوجية

الكلية

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القسم الأكاديمي

قسم هندسة الليزر و الإلكترونيات البصرية

دولة الجامعة

العراق

الدرجة العلمية

دكتوراه

تاريخ الدرجة العلمية

2012

الملخص الإنجليزي

The inverse kinematics problem (IKP) of the manipulator robot (MR) is complex problem, especially when the robot has a wrist offset.

An analytic solution based on closed form to solve the IKP for the manipulator robot is proposed.

This algorithm is applied in the following steppes, start by finding the wrist point by vectors computation, second step is compute the arm joint angles, and last step is compute the wrist angles by analytic solution.

This algorithm is implemented experimentally for the TQ MA2000 manipulator robot as case study.

The computation time of this algorithm is suitable for applying with real time implementation and it gives four sets of solution, which are lefty, right with elbow up or elbow down, that are all the possible sets of solutions.

An intelligent controller for tip position control of the MR is designed to reach the desired position with specific orientation.

Each joint of the manipulator robot is treated as a single input single output (SISO) system.

Two kinds of fuzzy logic controllers (FLC) are designed and implemented; they are fuzzy logic controller type-1 (FLCT1) and fuzzy logic controller type-2 (FLCT2), which has an addition third dimension to concern the uncertainty and nonlinearity that are found in the real word system.

The results show that using of FLCT2 gives fast transient response for all the manipulator robot joint motors with minimum both of overshoot and integral absolute error (IAE).

The using of FLCT2 with manipulator robot has six degree of freedom (6DOF) give the transient response faster and IAE also is less than that with using FLCT1.

The interface card is design and implemented to connect the manipulator robot with the PC computer via its parallel port, which will be used for the controller creation and solution.

The system programs are wri en with MATLAB 7.

A graphical user interface (GUI) under the MATLAB is designed and implemented for the simulation of the forward kinematics and inverse kinematics for the manipulator robot.

التخصصات الرئيسية

العلوم الهندسية والتكنولوجية (متداخلة التخصصات)

الموضوعات

• الحوسبة
• أنظمة التحكم
• الروبوتات

• APA
• MLA
• AMA

لغة النص

الإنجليزية

نوع البيانات

رسائل جامعية

رقم السجل

BIM-420236