Citation

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 (Unpublished)

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Abstract

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
URII:	http://shdl.mmu.edu.my/id/eprint/9911

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