Simulation of manipulator control system for drilling of top cover component of airplane

Abdo Esmail, Suhail Abdulrahman (2021) Simulation of manipulator control system for drilling of top cover component of airplane. Project Report. Universiti Teknikal Malaysia Melaka, Melaka, Malaysia. (Submitted)

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Abstract

This project is mainly focusing on investigating the suitable control method that can be used to control Kuka yobot. Hence, the controller designed can give the desired optimal performance. As the manual drilling is outdated method that have different problems in hole quality. Automatic drilling is one of the important application used in robot manipulator. The problem of this report is concerned with controlling the Kuka youbot in order to automate the drilling process for top cover component of airplane (circle shape). Many control method has been used to control the robot manipulator with different optimal performance, flexibility and robustness. The control method that will be used to control the robot manipulator is the PD fuzzy logic control method. PD Fuzzy logic control method is chosen due to the optimum capacity of the controller to handle the non-linearity of the robot manipulator. First, robot manipulator will be drawn in SolidWork and with the help of SimMechanics tool the mathematical design of the robot will be created and then convert to simscape where it can be used in MATLAB. The simscape created will be controlled by PD controller alone and then FLC will be added to improve the output. Moreover, the trajectory path planning of the robot manipulator, Cartesian space method will be used to enable the robot to move from one point to another. The proposed idea is designed to achieve the objectives of the report depending on the methodology, first by drawing the robot parts, mechanical design will be generated using the SimMechanics tool and then transfer to the Simulink using the ‘smimoprt’ function then PD controller will be set and test, after that FLC will be designed with special memberships functions and rule bases and then added to enhance the output. The result will be shown in terms of transient response, rising time, settling time, overshoot, and steady state error. Second, The Kuka youbot path will be created on the circle as waypoints. This path will be as 4 points with angle of 90 degree between point to another, the robot will stop for six seconds for the purpose of drilling simulation. Third, Kuka youbot will be simulated in Coppeliasim as a fulfillment of simulation of the drilling process.

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