DOI:10.29111/ijlrst ISRA Impact Factor:3.35
Research Paper Open Access
International Journal of Latest Research in Science and Technology Vol.4 Issue 6, pp 110-116,Year 2015
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Received : 19 December 2015; Accepted : 23 December 2015 ; Published : 31 December 2015
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This paper describes the design and control of a robot equipped with two arms and having 7 dof. The robot was primarily developed to study the dynamic contribution of arms during compensating of external disturbances. This study allows us to determine on-line, the required movements and accelerations of arms in order to maintain the robot stability and shows the importance of the arms for the robot stability.This mechatronic project contains the implementation of control algorithms, mechanical design, and electronic control boards under operating multiple processors together. The mechanical design is a complete CAD solids model, with specific motors and transmission systems selected.. The simulations of the dynamic behavior of the robot ADAM are presented using SimMechanics software so a high fidelity graphical simulator has been developed, providing important early feedback on critical design decisions. The control of robot is achieved by IPOS 4808 intelligent servo drives based on the latest DSP technology. The motion is programmed using the Technosoft Motion Language (TML); a high-level set of codes allowing parameterizing and executing specific motion operation. This paper shows also the way to implement a network between the drives.
Copyright © 2015 Jebli Tarek et al. This is an open access article distributed under the Creative Commons Attribution 4.0 International (CC BY 4.0) license which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
Jebli Tarek,Zaoui Chiheb, Aref Maalej , " Design And Control Of A Dual-arm Robot ", International Journal of Latest Research in Science and Technology . Vol. 4, Issue 6, pp 110-116 , 2015
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