Đồ án tốt nghiệp - Flexible robot

CHAPTER 1. OVERVIEW

HO CHI MINH CITY OF TECHNOLOGY AND EDUCATION
FACULITY FOR HIGH QUALITY TRAINING

Graduation Thesis
Major: AUTOMATION AND CONTROL TECHNOLOGY
ENGINEERING

Project Title

Flexible Robot

STUDENT: DANG TRAN MINH KHOI
STUDENT ID: 18151014
SUPERVISOR: Dr. Dang Xuan Ba

Ho Chi Minh City, 20 June 2024

HO CHI MINH CITY OF TECHNOLOGY AND EDUCATION
FACULITY FOR HIGH QUALITY TRAINING

Graduation Thesis
Major: AUTOMATION AND CONTROL TECHNOLOGY
ENGINEERING

Project Title

Flexible Robot
STUDENT: DANG TRAN MINH KHOI
STUDENT ID: 18151014
SUPERVISOR: Dr. Dang Xuan Ba

Ho Chi Minh City, 18 June 2024

i

ACKNOWLEDGEMENT
First of all, I would like to sincerely thank the teachers in the Faculty of HighQuality Training, especially Dr. Dang Xuan Ba, the subject guide for guiding and
exchanging valuable experiences and help me complete my graduation thesis.
The complete of graduation thesis marked a significant milestone in the time
which I have been learning over 6 years at University of Technology and Education.
This is a foundation for a student like me to prepare for a new chapter of my live and
open the new door to achieve opportunities in the future. After over 6 years learning
in the university also gives me many valuable lessons and experience, which I believe
it will have great contributions in a long run.
The past 4 months of studying and completing the project has been a special
precious time for me. Although I have tried myself, there are still shortcomings in
terms of knowledge as well as experience. Personally, I hope that the teachers will
consider, ignore, and give suggestions to me so that I can improve my work and learn
from experience and apply it in the future. I wish all the teachers working at Ho Chi
Minh City University of Technology and Education!

Ho Chi Minh City, 18 June 2024
Performer

ii

GRADUATION PROJECT TASK
Student Name: Dang Tran Minh Khoi
Student ID: 18151014
Student Class: 18151CLA1
Major: Control and Automation Engineering
Phone: 0986525543
Instructor’s name: Dr. Dang Xuan Ba
Submission date:

Receipt date

1. Name of project:
………………………………………………………………………………..
2. Initial data and documents
………………………………………………………………………………..
3. Project implementation content
………………………………………………………………………………..
4. Product
………………………………………………………………………………..

HEAD OF DEPARTMENT
(Sign &amp Full name)

SUPERVISOR
(Sign &amp Full Name)

iii

SUPERVISORS COMMENTS
Student Name: Dang Tran Minh Khoi
Student ID: 18151014
Major: Contro
...

...
to complex, variable interactions between
the robot and its environment. This adaptation could lead to more precise and efficient
responses external disturbances, potentially revolutionizing the way I approach
precision in robotic controls.

In the future, the application of gravity compensation methods is expected to
extend into various economic sectors. For instance, these techniques could support
elderly individuals or those with mobility issues by aiding joint and skeletal functions,
thereby enhancing their movement capabilities.

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CHAPTER 6. CONCLUSION AND EVALUATION

Figure 76. Gravity compensation applied in healthcare sector
In the industrial sector, gravity compensation can enable workers to lift
heavier objects than typically possible, significantly boosting productivity and
economic efficiency. This not only improves workplace ergonomics but also reduces
the risk of injuries, promoting a safer and more effective environment. Such
advancements in gravity compensation technology could revolutionize how tasks are
performed across multiple industries, leading to substantial improvements in quality
of life and work outputs. As research continues and technology evolves, the potential
applications of gravity compensation are vast, promising a future where physical
limitations are increasingly overcome through innovative engineering solutions.

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REFERENCE
[1]. Bin Y., (2002), Nonlinear Adaptive Robust Control, The invitation lecture in the
Summer School for Mechatronics in Danang VietNam
[2]. Arakelian, V. (2019). Gravity Compensation in Robotics – A review. Paper
presented at the 7th TAE, September 17-20, Prague, Czech Republic
[3]. Cvejin, J., &amp Zapletal, M. (2019). PID-Type Control of Robot Manipulators by
Using Gravity and Inertial Effects Compensation. In Proceedings of the 22nd
International Conference on Process Control (pp. 1-8). June 11-14, Štrbské Pleso,
Slovakia.
[4]. Hà, V. T. (Year). Application of force control by active impedance control method
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network

for

Almega

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robot

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Name, Volume(Issue), pages.
[5]. Montalvo, W., Escobar-Naranjo, J., &amp Garcia, C. A. (2020). Low-Cost
Automation for Gravity Compensation of Robotic Arm. Applied Sciences, 10(11),
Article 11.
[6]. Ranadev, M. B., &amp Chakrasali, R. L. (2014). Speed-Torque Characteristic Of DC
Motor ultitlizing H-Bridge Converter. International Journal of Energy and Power
(IJEP), 3(4). Retrieved from http://www.ijep.org