Title :
Design of a lightweight robotic arm and controller
Author :
Hennessey, Michael P. ; Priebe, Joseph A. ; Huang, Paul C. ; Grommes, Richard J.
Author_Institution :
FMC Corporation, Minneapolis, MN
Abstract :
This paper summarizes the design of an experimental lightweight robot arm and controller. It is a two-degree of freedom (dof) robot, driven by two electric motors and controlled by a control system based on three Intel 80286/80287 microprocessor/coprocessor pairs. Mechanical design considerations are discussed as well as the controller design. In addition, some preliminary modeling results are presented.
Keywords :
Acceleration; Actuators; Couplings; Drives; Fasteners; Kinematics; Lighting control; Payloads; Robot control; Spatial resolution;
Conference_Titel :
Robotics and Automation. Proceedings. 1987 IEEE International Conference on
DOI :
10.1109/ROBOT.1987.1087976
