Development of the Multi-Axis Control Platform for Robot Arm
Date Issued
2009
Date
2009
Author(s)
Chen, Yen-Tsung
Abstract
The main purpose of this thesis is to design a platform for a robot arm that is easy to construct and modulize, and to design a multi-axis controller for a humanoid robot arm. For the platform structures, this thesis developed two types of platforms. One is designed to test the controller, where the other is designed to test the planner. These two platforms are easy to construct and modulize.n the control algorithm design, this thesis analyzed the multi-axis motion system and purposed a control strategy for the humanoid robot arm. By analyzing the relationship between the multi-axis systems, the author can apply a controller to compensate for each axis in real-time. In comparison to a conventional controller, the controller the author proposed can provide better tracking results for a multi-axis robot arm in task space. For the integration of these two platforms, the author employed sbRIO 9642 and MCDC 3006S motor controllers. The experimental results show that the two platforms can meet the requirements.
Subjects
Trajectory planning
Motor Control
Multi-Axis Control
Cross-Coupling Control.
Type
thesis
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