Modeling and control of 6-dof of industrial robot by using neuro-fuzzy controller
High accuracy trajectory tracking is a very challenging topic in industrial robot control. This is due to the nonlinearities and input couplings present in the dynamics of the robot arm. This project report is concerned with the problems of modeling and control of a 6 degree of freedom (DOF) robot a...
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| Format: | Thesis |
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2014
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| Online Access: | http://eprints.uthm.edu.my/5546/ http://eprints.uthm.edu.my/5546/1/SYABAN_BIN_SHAMSULKAMAR.pdf |
| Summary: | High accuracy trajectory tracking is a very challenging topic in industrial robot control. This is due to the nonlinearities and input couplings present in the dynamics of the robot arm. This project report is concerned with the problems of modeling and control of a 6 degree of freedom (DOF) robot arm. This research undertook the following five developmental stages; firstly, the complete computer-aided design (CAD) model of a 6 DOF of robot arm is to be developed. In the second stage, the CAD model is to be converted into physical modeling by using SimMechanics Link. Then, the Neuro-Fuzzy Controller is applied to the robot arm. In the fourth stage, the research intends to perform the simulation. This is done through the simulation on the digital computer using MATLAB/SIMULINK as the platform. Lastly, the performance of Neuro-Fuzzy controller is to be compared with a linear controller. In summary, this project shows that Neuro-Fuzzy controller is far better than the linear controller in terms of four major characteristic which is the rise time, percentage overshoot, settling time and finally steady-state error. |
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