Thesis
Kinematic modeling and control system development of a robot arm
Washington State University
Master of Science (MS), Washington State University
05/2020
DOI:
https://doi.org/10.7273/000004047
Handle:
https://hdl.handle.net/2376/125333
Abstract
An open-source robot controller using an off-the-shelf motion controller has been developed. This approach takes advantage of the built-in capabilities for trajectory generation, low-level motor control, user-friendly programming and communication interfaces. It gives the system designer access to low-level control signals and PID loops, which are normally not accessible in a proprietary robot controller. Any external device can be easily synchronized to this type of controller through its communication channels. User program becomes simple line commands to execute coordinated motion of the robot. A 3D simulation model was built to verify the kinematic equations. Robot control program was developed to control the real robot. The simulated and real robot motion had good agreement indicating the new controller functions well.
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Details
- Title
- Kinematic modeling and control system development of a robot arm
- Creators
- Qian Zhang
- Contributors
- HAKAN BERAT GUROCAK (Advisor) - Washington State University, School of Engineering and Computer Science (VANC)
- Awarding Institution
- Washington State University
- Academic Unit
- School of Engineering and Computer Science (VANC)
- Theses and Dissertations
- Master of Science (MS), Washington State University
- Publisher
- Washington State University
- Identifiers
- 99900890793201842
- Language
- English
- Resource Type
- Thesis