Development of the multi-axis control platform for robot arm

Author

Huang, Han-Pang ; Chen, Yen-Tsung ; Wang, Ren-Jeng ; Chi, Meng-Ku

Author_Institution

Mech. Eng. Dept., Nat. Taiwan Univ., Taipei, Taiwan

fYear

2010

fDate

18-21 Aug. 2010

Firstpage

2326

Lastpage

2331

Abstract

This paper is aimed to design a multi-axis controller and a platform for a robot arm. A real-time multi-axis CCC (cross-coupling control) controller is developed for the robot arm. In addition, two platforms are constructed. One is for testing the controller and the other is for testing the planner so that the robot arm can be easily modularized and constructed. The integration of the proposed two platforms is achieved using sbRIO 9642 and MCDC 3006S motor controllers. The experimental results show that the two platforms can meet the requirements. In comparison to a conventional controller, the proposed multi-axis controller can provide better tracking results for a multi-axis robot arm in the task space.

Keywords

dexterous manipulators; motion control; MCDC 3006S motor controller; controller testing; cross-coupling control; multiaxis control platform; planner testing; robot arm; sbRIO 9642 motor controller; Aerospace electronics; Driver circuits; Joints; Manipulators; Robot kinematics; Trajectory; cross-coupling control; multi-axis controller; multi-axis platform; multi-axis robot arm;

fLanguage

English

Publisher

ieee

Conference_Titel

SICE Annual Conference 2010, Proceedings of

Conference_Location

Taipei

Print_ISBN

978-1-4244-7642-8

Type

conf

Filename

5602363