Master Thesis Discussion (Huda Talib Najim)

A graduate student in the Control and Systems Engineering Department (Huda Talib Najim) received a master's degree in engineering (Mechatronics) after discussing her thesis entitled "Optimal FL Control for 3-RRR Planar Parallel Manipulator". The discussion took place on Tuesday the 28th of May 2019 on the Discussion Hall number (9) in the department. The examination committee consisted of:

1- Asst. Prof. Dr. Firas Abdulrazzaq Raheem / Chairman

2- Asst. Prof. Dr. Ibrahim Qasim Ibrahim / Member

3- Lect. Dr. Bashra Kadhim Oleiwi / Member

4- Asst. Prof. Dr. Amjad Jaleel Humaidi / Member and Supervisor

Parallel robots are characterized by their high performance in terms of accuracy, rigidity, acceleration and their ability to handle heavy loads. Parallel robots were used in many applications for various tasks such as the manufacture of automatic tools, the pointing device for telescopes, the flight simulator and satellite measuring devices. In this research, the intelligent control strategy was applied using the type-1 fuzzy logic (T1FL) controller and the interval type-2 fuzzy logic (IT2FL) controller to control the gripper of the 3-RRR parallel-type robot. A comparison was made between the (T1FL) controller and the (IT2FL) controller in terms of track following and the robustness characteristics of the controllers. The effectiveness of each controllers was assessed based on four paths, namely the circle, square, triangle and infinity. On this occasion, we congratulate the student (Huda Talib Najim) and wish her all the success.





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