Intelligent Control Compensation of Hybrid Arms Robot (HAR) for Contour Machining


Alandoli, Esmail Ali and Lee, Tian Soon and Vengadasalam, Vijayakumar (2021) Intelligent Control Compensation of Hybrid Arms Robot (HAR) for Contour Machining. In: 2nd FET PG Engineering Colloquium Proceedings 2021, 1-15 Dec. 2021, Online Conference. (Unpublished)

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This research contributes by obtaining a novel dynamic model of the HAR based on the finite element method (FEM) in conjunction with the Lagrange’s equation. The new dynamic model is validated by a comparison with the SimMechanics model of the HAR in terms of the open loop response. Furthermore, the IOC is proposed as an integration of a linear quadratic regulator (LQR) controller and a fuzzy logic controller (FLC) to control the HAR in terms of position control, tip vibration suppression, and to perform several laser contour machining.

Item Type: Conference or Workshop Item (Paper)
Uncontrolled Keywords: Hybrid arms robot, dynamic modelling, intelligent optimal controller, tip vibration suppression, laser contour machining
Subjects: T Technology > TL Motor vehicles. Aeronautics. Astronautics > TL500-777 Aeronautics. Aeronautical engineering
Divisions: Faculty of Computing and Informatics (FCI)
Faculty of Engineering and Technology (FET)
Depositing User: Ms Nurul Iqtiani Ahmad
Date Deposited: 26 Jan 2022 04:04
Last Modified: 26 Jan 2022 04:04


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