In the College of Engineering/Department of Electrical and Electronic Engineering, the tagged master’s thesis was discussed “Mimic the Motion Planning of Underactuated Manipulator with Real Life Inspired Movement”
By researcher Noora Ahmed Sayer, who investigates the swinging movement of a gymnastics robot from the lower position to the upper position and how to adjust the control input signals applied to the two DC motors in order to move all the robot’s links closer to the vertical balance point. The optimal values of the control actions were obtained using the optimization (GWO) algorithm.
The swing up process was executed successfully with a short duration of 122.2750 seconds. The equilibrium problem of a gymnastic robot in vertical position is discussed by using discrete time linear quadratic regulator (DLQR) with optimization algorithm (GWO). The performance of all three joints (first, second, and third) was satisfactory, and the results of the system were less time-consuming and faster in number.
The thesis was approved by the discussion committee, which consisted of Professor Dr Hawraa Hassan Abbas (Al-Zahraa University for Girls) as Chairman, the membership and supervision of Assistant Professor Dr Muayyad Salim Kud (University of Kerbala), the membership and supervision of the teacher Dr Ahmed Muhammad Ahmed (University of Kerbala), and the membership and supervision of Professor Dr Haider Jalil Kamel ( Al-Safwa University College), with the membership and supervision of Assistant Professor Dr Ahmed Abdel Hadi Ahmed
