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

pdf

File Size

2856.96 KB

Degree Grantor

University of Nevada, Las Vegas

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