Three axes full servo robotics design and application

Author

Tan Yali ; Song Ke ; Shen Miao

Author_Institution

Dept. of Electron. & Inf. Eng., Xi´an JiaoTong Univ. City Coll., Xi´an, China

Volume

13

fYear

2010

fDate

22-24 Oct. 2010

Abstract

This paper presents a new design of three axis full servo robot. The detailed design work includes the mechanical structure design with three mutual perpendicular arms. All axes of this robotics are driven by AC synchronous servo motor. Based on such a mechanical structure, the electrical system with DSP and the programmable logic device (CPLD) is designed. DSP of TI TMSF2812 is used to achieve digital signal processing and human to machine interface. The CPLD is used to run logic calculation and trajectory planning. Experiment shows that the robot could precisely move following an pre-designed locus with high speed and accuracy in the three-dimensional space.

Keywords

AC motors; design engineering; digital signal processing chips; industrial robots; man-machine systems; motion control; path planning; position control; programmable controllers; servomotors; AC synchronous servo motor; DSP; TI TMSF2812; digital signal processing; electrical system; human to machine interface; industry robot; mechanical structure design; motion control; mutual perpendicular arm; programmable logic device; three axis full servo robot; trajectory planning; Interpolation; Manipulators; Programming; Robot control; Service robots; Servomotors; Three Axes Robot; industry robot; injection mould robot; motion control; robot control;

fLanguage

English

Publisher

ieee

Conference_Titel

Computer Application and System Modeling (ICCASM), 2010 International Conference on

Conference_Location

Taiyuan

Print_ISBN

978-1-4244-7235-2

Electronic_ISBN

978-1-4244-7237-6

Type

conf

DOI

10.1109/ICCASM.2010.5622694

Filename

5622694