Persiapan ke ICIUS..

The time is near for us to present the another conference paper in Bali.. I had to burn the midnight oil in order to finish up the presentation..but Alhamdulillah praise be to Allah... manage to finish it... hope everything will turn out smoothly...

Thanks friend for being there

Menyerah Kalah

Setiap dari kita akan dirundung masalah.. dilanda badai susah..namun sesungguhnya Allah maha pengasih dan penyayang..kembalilah kepadaNYA pasti kekuatan itu kau kan temui. Allah sesungguhnye mencela mereka yang mudah menyerah sebagaimana sabda nabi
'Sesungguhnya Allah mencela sikap kelemahan, maka hendaklah kamu pantang menyerah' - Abu Daud

Bermulanya Bulan Ramadan

Telah tiba bulan rahmat penuh keberkatan..semoga perjuangan menuntut ilmu lebih berkat dan diredhai..

Computed Torque Control

I have been reading the book from K.S. Fu, on the computed torque control, from what I can gather from my shallow understanding of the matter is that it is calculating the servo voltage which is required to produce the necessary torque in order to correct the error in the position and the velocity of the joints. Basically it uses the laplace transform in order to generate the transfer function which relates the voltage of the servo motor and also the joint rotation or torque. In any control system to gauge the performance we normally have 3 critieria which determines the success and the so call performance of the controller. Those criteria are
1) Fast time response
2) small steady state error
3) fast settling time..

This is some of the things that I have dwell inside the book in order to expand the understanding that I have on the PID controller, ohh I wish I have been paying more attention during my class in the university last time..or maybe this is the effect caused by the long working period that causes me to leave my engineering books for a long..long time :)

Path Control in Robot Arm

Motion control can be classified into 3 major categories which are
1) Joint Motion Control
2) Resolved Motion Control
3) Adaptive Control

Motion control basically deals on how do we move the robot from an initial position to the final desired positio. It is basically a time driven algorithm whereby the joint position are ascertain from time to time base on the position interpolation

Question..question

I'm still having problem with the PID controller, it seems that as I go deeper into the PID controller I'm getting more and more confused with the overall algorithm... when we are designing the PID controller for the manipulator are we controlling the armature current or are we controller the error of the position, it seems that PID is not as simple as what people says :)

Unexpected things do happen

Sometimes things do happen, just have to live with it and move forward... that is the life most precious lesson, teaching you that you can face and overcome a problem which is unexpected.. most of the time we would like to search that inner peace which seems to be so distance.. but once we have come back to Allah, He will show us and lead us the way..

Selamat Datang

Kaki melangkah masuk kedalam gedung...
tersaji pelbagai ilmu dari segenap penjuru
tuntutlah ilmu dan sebarkanlah ia ..
kerana sesuatu ilmu itu tidak akan berkurangan walau dikeluarkan sebanyak mana jua