Modeling and Control of Cartesian Robot Manipulator

Author

Khan, Taj Mohammad ; Arshad, Muhammad ; Choudhry, Muhammad Ahmad

Author_Institution

UET, Taxila

fYear

2005

fDate

24-25 Dec. 2005

Firstpage

1

Lastpage

4

Abstract

To analyze qualitatively the dynamical responses of a manipulator various factors are to be considered. In this paper we have developed kinematics and dynamics model for a cartesian robot manipulator (CRM). A 3-axis controller was designed, developed and interfaced with the manipulator. The developed model and controller were programmed in C++ language and the tests results were plotted in Microsoft Excel. Various tests were performed on system to evaluate performance of the model and the controller. The results that were obtained from these tests were plotted and have been discussed. An application for drilling purpose was also developed

Keywords

C++ language; control engineering computing; control system synthesis; manipulator dynamics; manipulator kinematics; 3-axis controller; C++ language; Microsoft Excel; cartesian robot manipulator kinematics; drilling; robot dynamics; Acceleration; Assembly; DC motors; Fasteners; Inverse problems; Manipulator dynamics; Orbital robotics; Robot control; Robot kinematics; Testing;

fLanguage

English

Publisher

ieee

Conference_Titel

9th International Multitopic Conference, IEEE INMIC 2005

Conference_Location

Karachi

Print_ISBN

0-7803-9429-1

Electronic_ISBN

0-7803-9430-5

Type

conf

DOI

10.1109/INMIC.2005.334504

Filename

4133519