Analysis Real Time Control Of Behavior Robot In Assiting Human In Cleaning Household

Hee, Kee Ming (2015) Analysis Real Time Control Of Behavior Robot In Assiting Human In Cleaning Household. Project Report. UTeM, Melaka, Malaysia. (Submitted)

Text Analysis Real Time Control of Behavior Robot in Assiting Human in Cleaning Household - 24 pages.pdf - Submitted Version Download (482kB)

Abstract

Technology of service robot keep improving from year by year due to need of human to solve difference kind of problem that face in daily life. Service robot in market is moving randomly when operate and this will cause it miss out some of the part in the room and increase the time needed to completely clean up the room. In order to overcome this problem, a prototype that able to learn by demonstration will be create to make the cleaning robot able to clean the room more efficiency. Cleaning robot that design will not include avoid obstacle sensor to reduce the complex of this project because main focus for project is learn by demonstration and human will avoid obstacle when doing demonstrate trajectory. Prototype will have two mode that is record mode that memory demonstrate trajectory by user and replay mode that redo the trajectory did by user. Basic sensor like encoder and digital compass sensor will be used in this project to detect distance travel and facing angle of cleaning robot. Number of step of encoder for one complete cycle and accuracy of digital compass sensor had been test in this project. Two difference system that is open-loop system and closed-loop system had been test to find the best system to operate cleaning robot. Cleaning robot able to show out the trajectory by using both of the system but closed-loop system is much more better compare with open-loop system because the end point of desired and actual point for closed-loop system is closer compare to open-loop system.

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