Designing of fuzzy logic based computed torque controllers for 6 degree of freedom robotic manipulator / (Record no. 79962)
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| 000 -LEADER | |
|---|---|
| fixed length control field | 02022cam a2200313 a 4500 |
| 003 - CONTROL NUMBER IDENTIFIER | |
| control field | EG-GiCUC |
| 008 - FIXED-LENGTH DATA ELEMENTS--GENERAL INFORMATION | |
| fixed length control field | 210220s2020 ua dh f m 000 0 eng d |
| 040 ## - CATALOGING SOURCE | |
| Original cataloging agency | EG-GiCUC |
| Language of cataloging | eng |
| Transcribing agency | EG-GiCUC |
| 041 0# - LANGUAGE CODE | |
| Language code of text/sound track or separate title | eng |
| 049 ## - LOCAL HOLDINGS (OCLC) | |
| Holding library | Deposite |
| 097 ## - Thesis Degree | |
| Thesis Level | M.Sc |
| 099 ## - LOCAL FREE-TEXT CALL NUMBER (OCLC) | |
| Classification number | Cai01.13.07.M.Sc.2020.As.D |
| 100 0# - MAIN ENTRY--PERSONAL NAME | |
| Personal name | Asmaa Mohamed Abdelstar |
| 245 10 - TITLE STATEMENT | |
| Title | Designing of fuzzy logic based computed torque controllers for 6 degree of freedom robotic manipulator / |
| Statement of responsibility, etc. | Asmaa Mohamed Abdelstar ; Supervised Ahmed Mohamed Kamel , Ahmed Abdelnasser Lasheen |
| 246 15 - VARYING FORM OF TITLE | |
| Title proper/short title | تصميم وحدات تحكم المبنىة على المنطق الضبابى وعزم الدوران المحسوب لمناول انسان آلى ذى 6 درجات حرية |
| 260 ## - PUBLICATION, DISTRIBUTION, ETC. | |
| Place of publication, distribution, etc. | Cairo : |
| Name of publisher, distributor, etc. | Asmaa Mohamed Abdelstar , |
| Date of publication, distribution, etc. | 2020 |
| 300 ## - PHYSICAL DESCRIPTION | |
| Extent | 67 P. : |
| Other physical details | charts , facimiles ; |
| Dimensions | 30cm |
| 502 ## - DISSERTATION NOTE | |
| Dissertation note | Thesis (M.Sc.) - Cairo University - Faculty of Engineering - Department of Electrical Power and Machines |
| 520 ## - SUMMARY, ETC. | |
| Summary, etc. | Three different control strategies have been developed to control the 6-degree of freedom. Robot manipulator such that it can track the required trajectories. The first is based on the feedback linearization of the manipulator and controller via using a nonlinear control law. This is called a computed-torque-controller (CTC). The second is a Fuzzy controller.The third is a hybrid controller from the first and the second ones.The developed controllers are tested in different cases of uncertainties in the nonlinearity of the manipulator.The third controller has proved its superiority over the other two controllers in case of the motion is either from point to point or oscillatory with small frequency |
| 530 ## - ADDITIONAL PHYSICAL FORM AVAILABLE NOTE | |
| Additional physical form available note | Issued also as CD |
| 653 #4 - INDEX TERM--UNCONTROLLED | |
| Uncontrolled term | Computed torque control |
| 653 #4 - INDEX TERM--UNCONTROLLED | |
| Uncontrolled term | Fuzzy control |
| 653 #4 - INDEX TERM--UNCONTROLLED | |
| Uncontrolled term | Robotic manipulators |
| 700 0# - ADDED ENTRY--PERSONAL NAME | |
| Personal name | Ahmed Abdelnasser Lasheen , |
| Relator term | |
| 700 0# - ADDED ENTRY--PERSONAL NAME | |
| Personal name | Ahmed Mohamed Kamel , |
| Relator term | |
| 905 ## - LOCAL DATA ELEMENT E, LDE (RLIN) | |
| Cataloger | Nazla |
| Reviser | Revisor |
| 905 ## - LOCAL DATA ELEMENT E, LDE (RLIN) | |
| Cataloger | Shimaa |
| Reviser | Cataloger |
| 942 ## - ADDED ENTRY ELEMENTS (KOHA) | |
| Source of classification or shelving scheme | Dewey Decimal Classification |
| Koha item type | Thesis |
| Source of classification or shelving scheme | Not for loan | Home library | Current library | Date acquired | Full call number | Barcode | Date last seen | Koha item type | Copy number |
|---|---|---|---|---|---|---|---|---|---|
| Dewey Decimal Classification | المكتبة المركزبة الجديدة - جامعة القاهرة | قاعة الرسائل الجامعية - الدور الاول | 11.02.2024 | Cai01.13.07.M.Sc.2020.As.D | 01010110082781000 | 22.09.2023 | Thesis | ||
| Dewey Decimal Classification | المكتبة المركزبة الجديدة - جامعة القاهرة | مخـــزن الرســائل الجـــامعية - البدروم | 11.02.2024 | Cai01.13.07.M.Sc.2020.As.D | 01020110082781000 | 22.09.2023 | CD - Rom | 82781.CD |