Implementation of a two-link collision free robot controller

Author

Hwang, Santai ; Lin, Paul I.

Author_Institution

Dept. of Electr. Eng. Technol., Purdue Univ., West Lafayette, IN, USA

fYear

1994

fDate

2-6 Oct 1994

Firstpage

1801

Abstract

The objective of this paper is to implement a two-link with three-joint robot controller by an 8051 microcontroller system. In order to detect obstacles around the working space, two ultrasonic sensors are attached around the second link. The inverse kinematics of the robot are also derived by a geometry approach and integrated into the system program, so that users are allowed to enter the desired position in Cartesian space. Experimental results indicate that the robot works as expected. This device could be used as a tool for education or industrial applications. Features of this system include high reliability, simplicity, friendly user interface and low cost

Keywords

DC motors; electric control equipment; electric sensing devices; industrial robots; machine control; microcontrollers; position control; process control; robot kinematics; ultrasonic transducers; user interfaces; 8051 microcontroller; Cartesian space; applications; geometry approach; inverse kinematics; obstacle detection; positioning; reliability; two-link collision free robot controller; ultrasonic sensors; user interface; working space; Computational geometry; Control systems; Educational programs; Kinematics; Microcontrollers; Orbital robotics; Robot control; Robot sensing systems; Service robots; User interfaces;

fLanguage

English

Publisher

ieee

Conference_Titel

Industry Applications Society Annual Meeting, 1994., Conference Record of the 1994 IEEE

Conference_Location

Denver, CO

Print_ISBN

0-7803-1993-1

Type

conf

DOI

10.1109/IAS.1994.377673

Filename

377673