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Hardware-software system design for a robot arm


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Lam, RHY 1987 , 'Hardware-software system design for a robot arm', Unspecified thesis, University of Tasmania.

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This project is the design, implementation and evaluation
of a control system for a robot manipulator. It is
initiated as a foundation research in robotics in the
Electrical Department, University of Tasmania. The TasrobotO
is the first robot arm built in the Department. The design
includes all the necessary electronic hardwares as well as
softwares for the control of the manipulator.
A complete robot system is a multi-variable, interacting
and non-linear system with time-varying parameters. As
Hewit has pointed out: "no applicable corpus of control
theory exists to deal with systems possessing such a
combination of problematic features", the design of suitable
controllers is impossible without making assumptions to
simplify the system. As it is still in the developing stage, the size and
weight of the TasrobotO manipulator is far less than
commonly encountered working robots. The interactions
between the manipulator links are small. The joint systems
are thus assumed to be mutually independent systems, with
time-varying parameters resulting from changes in the arm
configuration. With a suitable controller, this time-varying
effect was shown to be insignificant in the closed-loop
•dynamic response of each joint system.
A trajectory planning technique was developed to
generate cubic spline segment functions which interpolate
between specified joint coordinates. This technique offers optimality in the sense that it defines the shortest curve
passing through the specified points while at the same time
satisfying the velocity and acceleration contraints. In the
operation mode, command signals are generated in real time
from segment functions derived for each joint to control its
motion. This helps smoothen jerky motions and reduce the
deviations of the executed path from the planned path.
The design and developed techniques have been tested
and are in use today controlling TasrobotO.

Item Type: Thesis - Unspecified
Authors/Creators:Lam, RHY
Keywords: Robots, Industrial, Robots
Copyright Holders: The Author
Additional Information:

Thesis (M.Eng.Sc.)--University of Tasmania, 1988. Bibliography: leaves 146-148

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