Award Date
1-1-1996
Degree Type
Thesis
Degree Name
Master of Science (MS)
Department
Electrical and Computer Engineering
First Committee Member
Ashok Iyer
Number of Pages
124
Abstract
This research focuses on the development of the control system of a dual arm industrial robot. A controller for the position control of unconstrained robot arm is also presented. System architecture, hardware configuration and software development are discussed in detail; The experimental set-up consists Remotec's RM-10A dual arm manipulator. Each arm has six separate motorized motions with position sensors. The manipulator is controlled by a Texas Istruments' TMS320C40 parallel Digital Signal Processors installed on the QPC/C40B Board. The PID 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{dollar}\sp{++}{dollar} to facilitate easy operation of the robot.
Keywords
Handling; Nuclear; Robotics; Waste
Controlled Subject
Electrical engineering; Nuclear engineering
File Format
File Size
2856.96 KB
Degree Grantor
University of Nevada, Las Vegas
Permissions
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Repository Citation
Chen, Tao, "Robotics for nuclear waste handling" (1996). UNLV Retrospective Theses & Dissertations. 830.
http://dx.doi.org/10.25669/bqsl-xcln
Rights
IN COPYRIGHT. For more information about this rights statement, please visit http://rightsstatements.org/vocab/InC/1.0/
