Award Date

1-1-1997

Degree Type

Thesis

Degree Name

Master of Science (MS)

Department

Mechanical Engineering

Number of Pages

106

Abstract

This research focuses on the development of a controller for the cooperation control of dual arm mechanical manipulator. A controller for the position control of unconstrained robot arm without velocity measurements is also presented; The experimental set-up consists Remotec's RM-10A dual arm manipulator. Each arm has six separate motorized motions with position sensors. The arm has also an end effector and is provided with a six axes Force/Torque sensor. The manipulator is controlled by two TMS320C40 parallel Digital Signal Processors. The control software which is embedded on the Digital Signal Processor is developed using C language. A Graphical User Interface is also developed using Microsoft Visual C++ to facilitate easy operation of the robot; A PID controller is implemented for the position control of the manipulator. Experiments are performed both in joint space and in Cartesian space and the results are presented.

Keywords

Arm Control; Cooperative; Dual; Manipulator

Controlled Subject

Mechanical engineering; Electrical engineering

File Format

pdf

File Size

2467.84 KB

Degree Grantor

University of Nevada, Las Vegas

Language

English

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