Control system for a 3-axis cylindrical robot arm

• Main Authors: Arciaga, Generoso A., Dumadapat, Rachelle R., Lamug, Gabriel L.
• Format: text
• Language: English
• Published: Animo Repository 1991
• Subjects: Robotics; Electronic control; Robots, Industrial
• Online Access: https://animorepository.dlsu.edu.ph/etd_bachelors/9984
• Institution: De La Salle University

The control system which our group developed was constructed for a 3-axis electric stepper motor driven cylindrical robot arm. The robot arm, as well as the control system, were designed for a pick and place application. The control system uses forward and inverse kinematics to be able to locate the specific position and orientation of the robot manipulator control. A closed-loop method of control was achieved by employing joint sensors to send feedback signals to the controller. The controller also has added features such as joint velocity profile generation and collision branching.