Development of a genetic algorithm controller for cartesian robot
In some daily tasks such as drilling, laser marking or spot welding application, the Cartesian robot is requested to reach with its hand tip to a desired target location. Such tasks become more complex if it has to handle multiple points in shortest travelling time and space. It is with these...
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| Format: | Thesis |
| Language: | English English English |
| Published: |
2008
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| Online Access: | http://eprints.uthm.edu.my/7413/1/24p%20ONG%20JOO%20HUN.pdf http://eprints.uthm.edu.my/7413/2/ONG%20JOO%20HUN%20COPYRIGHT%20DECLARATION.pdf http://eprints.uthm.edu.my/7413/3/ONG%20JOO%20HUN%20WATERMARK.pdf |
| _version_ | 1796869556524810240 |
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| author | Ong, Joo Hun |
| author_facet | Ong, Joo Hun |
| author_sort | Ong, Joo Hun |
| collection | UTHM |
| description | In some daily tasks such as drilling, laser marking or spot welding
application, the Cartesian robot is requested to reach with its hand tip to a desired
target location. Such tasks become more complex if it has to handle multiple points
in shortest travelling time and space. It is with these reasons that this study was
conducted with the primary objective to develop a computational intelligent system
that would contribute towards encouraging a productive and quality way of material
handling and processing. The objective of this project is to design, develop and
optimize the performance of a Cartesian robotic arm in terms of its positioning and
speed to perform spot welding application. The genetic algorithm (GA) will be
introduce, it will be able to look for the optimum sequences to solve its path planning
via evolutionary solutions. GA will determine the best combination paths in order to
minimize the total motion of welding time in shortest travel distance. The new
algorithm is tested and implemented in this Cartesian robot. Laser pointer will
replace the spot welding torch for the demonstration purpose in this project. This
project involves in developing a machine learning system that is capable of
performing independent learning capability for a given tasks. The design and
development of this project will involve two major sections. First section concerns
about the hardware construction, wiring and testing. Second section involves
software design to control the movement of the robot for the spot welding. The
hardware design can be categorized into two aspects i.e. the electrical design and
mechanical design. The electrical design involves wiring of control components such
as the stepper motor controller, input and output devices as well as the power supply
and the safety devices. Finally, the developed algorithm will been tested and
implemented into in this Cartesian robot system. |
| first_indexed | 2024-03-05T21:56:39Z |
| format | Thesis |
| id | uthm.eprints-7413 |
| institution | Universiti Tun Hussein Onn Malaysia |
| language | English English English |
| last_indexed | 2024-03-05T21:56:39Z |
| publishDate | 2008 |
| record_format | dspace |
| spelling | uthm.eprints-74132022-07-21T07:20:12Z http://eprints.uthm.edu.my/7413/ Development of a genetic algorithm controller for cartesian robot Ong, Joo Hun TJ Mechanical engineering and machinery TJ210.2-211.47 Mechanical devices and figures. Automata. Ingenious mechanisms. Robots (General) In some daily tasks such as drilling, laser marking or spot welding application, the Cartesian robot is requested to reach with its hand tip to a desired target location. Such tasks become more complex if it has to handle multiple points in shortest travelling time and space. It is with these reasons that this study was conducted with the primary objective to develop a computational intelligent system that would contribute towards encouraging a productive and quality way of material handling and processing. The objective of this project is to design, develop and optimize the performance of a Cartesian robotic arm in terms of its positioning and speed to perform spot welding application. The genetic algorithm (GA) will be introduce, it will be able to look for the optimum sequences to solve its path planning via evolutionary solutions. GA will determine the best combination paths in order to minimize the total motion of welding time in shortest travel distance. The new algorithm is tested and implemented in this Cartesian robot. Laser pointer will replace the spot welding torch for the demonstration purpose in this project. This project involves in developing a machine learning system that is capable of performing independent learning capability for a given tasks. The design and development of this project will involve two major sections. First section concerns about the hardware construction, wiring and testing. Second section involves software design to control the movement of the robot for the spot welding. The hardware design can be categorized into two aspects i.e. the electrical design and mechanical design. The electrical design involves wiring of control components such as the stepper motor controller, input and output devices as well as the power supply and the safety devices. Finally, the developed algorithm will been tested and implemented into in this Cartesian robot system. 2008-11 Thesis NonPeerReviewed text en http://eprints.uthm.edu.my/7413/1/24p%20ONG%20JOO%20HUN.pdf text en http://eprints.uthm.edu.my/7413/2/ONG%20JOO%20HUN%20COPYRIGHT%20DECLARATION.pdf text en http://eprints.uthm.edu.my/7413/3/ONG%20JOO%20HUN%20WATERMARK.pdf Ong, Joo Hun (2008) Development of a genetic algorithm controller for cartesian robot. Masters thesis, Universiti Tun Hussein Onn Malaysia. |
| spellingShingle | TJ Mechanical engineering and machinery TJ210.2-211.47 Mechanical devices and figures. Automata. Ingenious mechanisms. Robots (General) Ong, Joo Hun Development of a genetic algorithm controller for cartesian robot |
| title | Development of a genetic algorithm controller for cartesian robot |
| title_full | Development of a genetic algorithm controller for cartesian robot |
| title_fullStr | Development of a genetic algorithm controller for cartesian robot |
| title_full_unstemmed | Development of a genetic algorithm controller for cartesian robot |
| title_short | Development of a genetic algorithm controller for cartesian robot |
| title_sort | development of a genetic algorithm controller for cartesian robot |
| topic | TJ Mechanical engineering and machinery TJ210.2-211.47 Mechanical devices and figures. Automata. Ingenious mechanisms. Robots (General) |
| url | http://eprints.uthm.edu.my/7413/1/24p%20ONG%20JOO%20HUN.pdf http://eprints.uthm.edu.my/7413/2/ONG%20JOO%20HUN%20COPYRIGHT%20DECLARATION.pdf http://eprints.uthm.edu.my/7413/3/ONG%20JOO%20HUN%20WATERMARK.pdf |
| work_keys_str_mv | AT ongjoohun developmentofageneticalgorithmcontrollerforcartesianrobot |