MARC details
| 000 -LEADER |
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| fixed length control field |
03911ntm a2200373 i 4500 |
| 001 - CONTROL NUMBER |
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| control field |
vtls000105479 |
| 003 - CONTROL NUMBER IDENTIFIER |
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| control field |
KUKTEM |
| 005 - DATE AND TIME OF LATEST TRANSACTION |
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| control field |
20251117113438.0 |
| 008 - FIXED-LENGTH DATA ELEMENTS--GENERAL INFORMATION |
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| fixed length control field |
190212t20182018my a f am 000 0 eng d |
| 020 ## - INTERNATIONAL STANDARD BOOK NUMBER |
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| International Standard Book Number |
THE0008050(Local) |
| 039 #9 - LEVEL OF BIBLIOGRAPHIC CONTROL AND CODING DETAIL [OBSOLETE] |
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| Level of rules in bibliographic description |
201906181320 |
| Level of effort used to assign nonsubject heading access points |
amy2 |
| -- |
201902121615 |
| -- |
saini |
| 040 ## - CATALOGING SOURCE |
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| Original cataloging agency |
UMP |
| Language of cataloging |
eng |
| Transcribing agency |
UMP |
| Description conventions |
rda |
| 090 ## - LOCALLY ASSIGNED LC-TYPE CALL NUMBER (OCLC); LOCAL CALL NUMBER (RLIN) |
|---|
| Classification number (OCLC) (R) ; Classification number, CALL (RLIN) (NR) |
FKEE .N67 2018 r Thesis |
| 100 0# - MAIN ENTRY--PERSONAL NAME |
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| Personal name |
Norsharimie Mat Adam, |
| Relator term |
author. |
| 245 10 - TITLE STATEMENT |
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| Title |
Reduction of inertia effect on omnidirectional wheeled mobile robot using impedance control / |
| Statement of responsibility, etc. |
Norsharimie Mat Adam |
| 264 #1 - PRODUCTION, PUBLICATION, DISTRIBUTION, MANUFACTURE, AND COPYRIGHT NOTICE |
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| Place of production, publication, distribution, manufacture |
Kuantan, Pahang : |
| Name of producer, publisher, distributor, manufacturer |
UMP, |
| Date of production, publication, distribution, manufacture, or copyright notice |
2018 |
| 264 #4 - PRODUCTION, PUBLICATION, DISTRIBUTION, MANUFACTURE, AND COPYRIGHT NOTICE |
|---|
| Date of production, publication, distribution, manufacture, or copyright notice |
© 2018 |
| 300 ## - PHYSICAL DESCRIPTION |
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| Extent |
xiii, 80 pages : |
| Other physical details |
illustrations (some color) ; |
| Dimensions |
30 cm. + |
| Accompanying material |
1 CD-ROM |
| 336 ## - CONTENT TYPE |
|---|
| Content type term |
text |
| Source |
rdacontent |
| 336 ## - CONTENT TYPE |
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| Content type term |
text |
| Source |
rdacontent |
| 337 ## - MEDIA TYPE |
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| Media type term |
unmediated |
| Source |
rdamedia |
| 337 ## - MEDIA TYPE |
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| Media type term |
computer |
| Source |
rdamedia |
| 338 ## - CARRIER TYPE |
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| Carrier type term |
volume |
| Source |
rdacarrier |
| 338 ## - CARRIER TYPE |
|---|
| Carrier type term |
computer disc |
| Source |
rdacarrier |
| 347 ## - DIGITAL FILE CHARACTERISTICS |
|---|
| File type |
text file |
| Encoding format |
PDF |
| Source |
rda |
| 500 ## - GENERAL NOTE |
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| General note |
Faculty of Electrical and Electronics Engineering |
| 502 ## - DISSERTATION NOTE |
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| Dissertation note |
Thesis (Master of Science) -- Universiti Malaysia Pahang – 2018 |
| 504 ## - BIBLIOGRAPHY, ETC. NOTE |
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| Bibliography, etc. note |
Includes bibliographical references |
| 520 3# - SUMMARY, ETC. |
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| Summary, etc. |
Inertia factor in a mobile robot motion is one of the issues that need to be tackled for safety and energy efficiencies especially on the Wheel Mobile Robot (WMRS) system in dealing with confine cornering routes. According to the literature review, inertia may cause due to the overdriven, slip of the WMRS, over force, sharp turn in cornering and emergency stop. Therefore, this research has taken the initiative to design and model a dynamic control to cater the inertia factors happen on the mobile robot during cornering motions. An Omnidirectional Mecanum Wheeled Mobile Robot (OMWMR) is selected as a platform for modelling and control design since this configuration is favourable for confine area application. Kinematics of OMWMR is modelled by considering the mecanum wheel coordination to the centre body of the robot frame and further with dynamic modelling and analysis. With reference to the problem statements in the kinematics and dynamics analyses, inertia shaping technique is designed by using impedance control approach where the difference of vehicle forces is considered as interaction force of the vehicle have indirectly controlled through the velocities of the vehicle. The research scope is emphasized on the vertical (X-axis) and horizontal (Y-axis) of the OMWMR motions during cornering periods where the inertia is a critical state. Since velocity state is the lowest order for the wheeled type system kinematics system, the velocity-based impedance control is derived proposed as the dynamic control for OMWMR system to cater the mentioned issue in cornering period. This proposed dynamic control concerning both stiffness and damping ratio as parameters tuning. The control objective is to shape the velocity input of the OMWMR system during cornering period with reference to the different force inputs on both X and Y axes of the system where the difference torques on each wheel with friction torque were considered. As for the verification, the proposed dynamic control was modelled and simulated with OMWMR system model plant. The results show that the proposed impedance control is able to reduce the different forces on each X and Y axes of the robot by reducing its velocity inputs at the cornering period. On the other hand, kinetic energy reduction at the same period influenced by robot’s velocities proved that the proposed control has reduced the inertia effect on the OMWMR system. |
| 610 20 - SUBJECT ADDED ENTRY--CORPORATE NAME |
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| Corporate name or jurisdiction name as entry element |
Faculty of Electrical and Electronics Engineering |
| General subdivision |
Dissertations |
| 650 #0 - SUBJECT ADDED ENTRY--TOPICAL TERM |
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| Topical term or geographic name entry element |
Universities and colleges |
| General subdivision |
Disertations |
| 650 #0 - SUBJECT ADDED ENTRY--TOPICAL TERM |
|---|
| Topical term or geographic name entry element |
Theses |