Optimum Utilization Of Energy Consumption In Arm Robot

Mohd Shah, Hairol Nizam and Kamis, Zalina and Shukor, Ahmad Zaki and Baharon, Mohd Rizuan and Sulaiman, Marizan and Wan Azahari, Wan Nur Farhana (2019) Optimum Utilization Of Energy Consumption In Arm Robot. Modern Applied Science, 13 (5). pp. 57-69. ISSN 1913-1844

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Abstract

This paper introduced on how to minimize the energy and performance of arm robot. The objective is to design the optima; performance of the arm robot movement in performing certain tasks. There are three process involved in minimize the energy which are hardware assembly selection, Denavit Haternberg (D-H) parameters and optimization process of robot movements. A 3 degree of freedom ROB0036 robot arm is use as hardware selection. Then determine the Denavit Haternberg (D-H) parameters for robot through theoretical, simulation and practical forward and inverse kinematics. The optimization process involved how to control parameters know as position angle and the speed of motor of three main axes of arm robot. The performance is measured respect to the two movement, which are reference and optimized. The energy efficiency analysis is performs to reduce this energy consumed. The simulation resulted show that the minimum motor’s movement of joint, the less time taken to achieve of to complete the pick and place task. Directly, it results on less energy used and increase the robot arm performance.

Item Type: Article
Uncontrolled Keywords: Energy optimization, Robot arm, D-H parameter, Kinematics, Trajectory planning
Subjects: T Technology > T Technology (General)
T Technology > TK Electrical engineering. Electronics Nuclear engineering
Divisions: Faculty of Electrical Engineering
Depositing User: Mohd Hannif Jamaludin
Date Deposited: 15 Jun 2020 11:07
Last Modified: 15 Jun 2020 11:07
URI: http://eprints.utem.edu.my/id/eprint/24061
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