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Experimental study on the operation and control of a 6 axes (DOF) robot in assembly line / Mahmoud Abdelaal Hassanin Ismaiel Barakat ; Supervised Ahmed Bahgat Gamal Bahgat , Hasssan Mohamed Rashad Emarah

By: Contributor(s): Material type: TextTextLanguage: English Publication details: Cairo : Mahmoud Abdelaal Hassanin Ismaiel Barakat , 2014Description: 103 , (31) P. : charts, facsimiles ; 30cmOther title:
  • دراسة تجريبية للتشغيل والتحكم فى روبوت ذي 6 محاور فى خط تجميع [Added title page title]
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Dissertation note: Thesis (M.Sc.) - Cairo University - Faculty of Engineering - Department of Electrical Power and Machines Summary: This work presents an experimental study on the operation and control of 6 degrees of freedom (DOF) Robot in an assembly line. An extensive literature survey of recent publications of Robotics has been presented. The details of the motion and control of the Robot are given. Two case studies are considered. The first case is a free motion between an initial space position and a target position, then executing an assigned task. The second case is a cyclic assembly task. Experimental results showing the motion of each joint, world coordination values, related positions, speeds and servo motor current and voltage are given for both cases. Conclusions indicate the effect of controller and path parameters on the accuracy, timing and performance in executing the required tasks
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Thesis Thesis قاعة الرسائل الجامعية - الدور الاول المكتبة المركزبة الجديدة - جامعة القاهرة Cai01.13.07.M.Sc.2014.Ma.E (Browse shelf(Opens below)) Not for loan 01010110064651000
CD - Rom CD - Rom مخـــزن الرســائل الجـــامعية - البدروم المكتبة المركزبة الجديدة - جامعة القاهرة Cai01.13.07.M.Sc.2014.Ma.E (Browse shelf(Opens below)) 64651.CD Not for loan 01020110064651000

Thesis (M.Sc.) - Cairo University - Faculty of Engineering - Department of Electrical Power and Machines

This work presents an experimental study on the operation and control of 6 degrees of freedom (DOF) Robot in an assembly line. An extensive literature survey of recent publications of Robotics has been presented. The details of the motion and control of the Robot are given. Two case studies are considered. The first case is a free motion between an initial space position and a target position, then executing an assigned task. The second case is a cyclic assembly task. Experimental results showing the motion of each joint, world coordination values, related positions, speeds and servo motor current and voltage are given for both cases. Conclusions indicate the effect of controller and path parameters on the accuracy, timing and performance in executing the required tasks

Issued also as CD

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