This search includes studying of automated mobile cranes to reduce incidence of
inversing which often happens due to payload swaying that requires controlling system at
the crane's site to reach Target position and another controlling system to red
uce payload
swaying as possible while the crane is in motion.
Despite the development of controlling systems that adjust the operation and
functions of these cranes, the repetition of accidental tips in these cranes lead us to look for
hybrid fuzzy controlling system comparing it with PID controlling system. So, it will
improve the performance of these cranes through the reduction of payload swaying and
precise control of crane’s position.
The PID controller and Hybrid Fuzzy PID controller were simulated using Matlab
Software and the results were compared to reach the best controlling system for the crane.
Industrialists interested automates their factories to increase production, reduce costs
and improve quality by using robots in leadership and finishing most of the production
processes, where robots characterized as mechanical structures programma
ble to perform
tasks accurate, speed and reliability.
Research depend in concluding the optimal path on generating virtual paths
(triangular, curved, square) reflects the robotic arm movement to reach the target point,
where as it has been known moving time and angles of rotation and torque in the joints
under the influence of gravity through the study of horizontal and vertical movement of the
robotic arm.
A study of suggested trajectories for the robotic arm shows that the best paths on the
safety of robotic arm motors is semi-circular path as limiting the occurrence of mechanical
shocks or the appearance of high values of the joints torques. while showing that the path
that achieves less time to reach the target point and less amount of energy is the triangular
path in the case of horizontal motion of the robotic arm despite the emergence of sharp
deviations in the torque and power schemas as a result of the sudden change in the
direction of movement.
The negative impact of gravity is especially apparent when the second joint up or
down movement, causing the appearance of peaks in energy curve reflects the high values
of determination in this joint.
In this paper, the algorithm was designed for cylinders, slots and pockets extraction from
CAD models saved in STL file depending on rule-based method and graph-based method.
Besides, windows application was designed using Visual Studio C# which al
lows the user
to import CAD model and features extraction and view their geometric information
(cylinder diameter, height, cylinder center coordinates, width, height, length for slots and
pockets. In addition, all surfaces that the feature consists from.
The proposed algorithm consists from multi-steps are: dividing input model into multi
surfaces based on RegionGrowing method, next step is cylinder features extraction
depending on rule-based method, slots and bockets extraction depending on graph-based
method, calculating geometric information for each extracted feature.
The results show that the proposed algorithm can extract cylinders, slots and pockets
features from CAD models which saved in STL files and calculates geometric information
for each extracted feature.
