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Robot Control
Robot Control
Robot Control
the American robot industry association (RIA) defines a robot as a "manipulator designed to move material, parts, tools, or specialized devices, through variable programmer motions for the performance of a variety of tasks. In general, the arm of a robot has a number of joints. The current approach to the design of control systems for robot joints is to treat each joint of the robot arm as a simple joint servomechanism, ignoring the effects of the movements of all other joints. Figure-1 illustrates a single-joint arm, without an the joint shown. The actuator is assumed to be an armature-control dc servomotor.
The power source, usually called an actuator, is come type of device used to drive the robot. The three basic types of actuators used today are: (1) hydraulic, (2) electric, and (3) pneumatic. The mechanical arm mechanism of a jointed-arm robot is called the manipulator, and usually consists of base, an arm having a series of axis or joints and a power source. The manipulator is used to move a device called an
End-Effecter, in any number of directions. The end-effecter most frequently used is a hand or Gripper.
1.2- Servomotor:
a servomotor is a dc motor designed specifically to be used in a closed-loop control system. The circuit diagram of a servomotor is given in figure-2.
em ( s) = K m
d dt
Em ( s ) = K ms ( s ) E a ( s ) = ( Lms + Rm ) I a ( s ) + E m ( s)
I a (s) = E a ( s) E m ( s) Lms + Rm
(t ) = K I a (t )
= (t ) B
T ( s ) = ( J S 2 + B S ) (s )
(s ) =
T (s) J S2 +BS
1r2 = r1 2 2 = J
d 2 dt 2 r1 = r 2 2
1 The arm is connected to motor through gears, with a gear ratio of n = r
The first statement contains the command print (to output screen). The next command, Lprint (to output to the pro-arm).
3- Stepping Motors:
A stepping motor has the capability of rotating in either direction, starting or stopping at varios positions and moving its rotor in precise angular increments for each input excitation change or digital step pulse. The precise angular movement is repeated for each input step command, which allows the motor to accurately moves its rotor to a known repeatable position. So stepper motors can be used to control position in low-power, low speed application. They can be used to control stepping axis very precisely.
4- Robot Commands:
The stepping motors are used to move the axis in the pro-arm. The motors may be controlled to move the arm in any one of five different speeds as shown in Table-1. Speed No. S1 S2 S3 S4 S5 1 2 3 4 5 Description Very slow Slow Medium Fast Very fast Movement speed 64 mm/sec 102 mm/sec 127 mm/sec 128 mm/sec 203 mm/sec
Speed=distance/time.
The pro-arm uses the L(imit) command to stop the arm from trying to move past its maximum travel position. The format of this command is Ln where n is either a 1 or 0. The 1 will turn ON (activate) the limit operation and a 0 will (deactivate) turn it off.
LAB EXPLORATION: Purpose: The exploration will provide the practice using most of the pro-arm
commands within a BASIC program setting.
Steps:
a)- check the system installation. b)- boot your BASIC software up by typing GWBASIC and pressing
e.
c)- at the BASIC prompt, type the follwing programs and explain the results.
Program-I:
20 30 35 40 45 50 60 Print "Z" Print "S2" Print "M1000,0,0,0,0,0" LPrint "M1000,0,0,0,0,0" Print "M-1000,0,0,0,0,0" LPrint "M1000,0,0,0,0,0" Print "END" : END : LPrint "Z" : LPrint "S2"
Program-II:
20 30 Print "Z" : LPrint "Z" Print "P1,500,0,0,0,0,0" : LPrint "P1,500,0,0,0,0,0"
40 40 50 60 70 90
Print "P2,500, 0, 0, 0, 0, 0" LPrint "M1000, 0, 0, 0, 0, 0" Print "G1" Print "N" Print "G2" Print "END"
: LPrint
Program-III:
20 30 40 50 60 Print "Z" Print "O" Print "D10" Print "C" Print "END" : LPrint "Z" : LPrint "O" : LPrint "C10" : LPrint "C" : END
Program-IV:
20 25 30 35 50 60 70 80 90 Print "Z" : LPrint "Z" Print "M0,-450,300,0,0,0" LPrint "M0,-450,300,0,0,0" Print "M-1000,0,0,0,0,0" : LPrint "M-1000,0,0,0,0,0" Print "D5" "For x=1 To 8" Print "M250,0,0,0,0,0" Print "D5" Print "Next x" : LPrint "D5" : For x=1 To 8 : LPrint " M250,0,0,0,0,0" : LPrint "D5" : Next x : LPrint "N"
: END