Universiti Teknologi Malaysia Institutional Repository

The application of intelligent active force control of a robot manipulator in surface finishing processes

Rakiman, Khairol Anuar (2003) The application of intelligent active force control of a robot manipulator in surface finishing processes. Masters thesis, Universiti Teknologi Malaysia, Faculty of Mechanical Engineering.


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In manufacturing, and industrial robot is often used to manipulate objects (work pieces) either in free or constrained environments. The latter is more critical since it involves significant interaction of forces between the robot's end-effector, object and its surrounding which can directly affect the performance (accuracy) ofthe robot. Typical robotic tasks include de-burring, machining, contour/profile tracking, welding assembly, polishing and pick-and-transfer operations. Thus, the study of robot force control is a potential area ofresearch to address the problems as it seeks ways to counteract them effectively and robustly. The proposed research is aimed at investigating and analyzing the effects of changing various parameters including the different loading and operating conditions in a robotic control system. A rigorous simulation study was conducted particularly on the trajectory tracking performance of a two-link planar robot that is assumed to execute grinding and deburring processes. Active force control with intelligent elements was used in the study. The effectiveness of the proposed control scheme was verified and also compared with the conventional proportional-plus- derivative (PD) counterpart.

Item Type:Thesis (Masters)
Additional Information:Thesis (Sarjana Kejuruteraan (Mekanikal)) - Universiti Teknologi Malaysia, 2003
Uncontrolled Keywords:robot manipulator
Subjects:T Technology > TS Manufactures
Divisions:Mechanical Engineering
ID Code:42776
Deposited By: Haliza Zainal
Deposited On:02 Nov 2014 03:13
Last Modified:10 Oct 2017 07:07

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