Design Of Vision Guided Manipulator For Optimal Dynamic Performance

Mohamed Azmi, Said and Marizan, Sulaiman and Muhammad Herman , Jamaluddin (2007) Design Of Vision Guided Manipulator For Optimal Dynamic Performance. Project Report. UTeM, Melaka, Malaysia. (Submitted)

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Abstract

This project addresses to present on how to optimize the energy and performance of an industrial robot. The objectives of this project are to study, design and generate the optimal dynamic performance of the manipulator's movement to perform certain tasks. Dynamic performance is referred to integrable performance measures over entire motions, such as motion time or energy. As enhancement, this manipulator is attached with the vision system for object searching and task automation. There are three steps involved in building the project. Firstly, the determination of Denavit-Ha1tenberg parameters of selective robot trough theoretical, simulation and practical of forward and inverse kinematics. Second, the optimization process of robot movements. The final step involves the implementation of practical task. The optimization process involves the control of two parameters known as position angle (8) and speed of the motor (co) for the three main axes of the robot. The performance is measured regarding 3 types of categorized movements known as reference, fixed and optimized which do the same repetitive task. The algorithm will .minimize the motion time and energy function so that the pick and place operation with optimal time and energy can be met. It is found that the lesser the motor's movement on a joint, the lesser the time is taken to complete the task and save energy as well as increase the manipulator's performance.

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