University of Tasmania
whole_LamRaymondHangYick1988.pdf (15.9 MB)

Hardware-software system design for a robot arm

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posted on 2023-05-26, 19:36 authored by Lam, RHY
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:
o 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 ‚Äödynamic 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."


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  • Unpublished

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

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  • Open

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