Embedded controller design for a robotic arm model

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Kovács Gábor
Department of Control Engineering and Information Technology

State-of-the-art manufacturing systems are highly automated with robotic arms performing various tasks. Commissioning, programming and operation of such automated systems require highly trained engineers, familiar with the principles of robot control.

The use of industrial robotic arms for hands-on learning of robot control algorithms or for prototyping new methods is limited due to their closed architecture and high price. However, such tasks do not require devices with complex mechanics and high accuracy. Instead, a flexible, scalable control system which provides direct access to sensor and control signals of the robotic arm is of paramount importance.

This thesis presents the development of the power electronics and embedded control system of a 5-DOF educational robotic arm. First part addresses design and implementation of the power electronics for DC motors along with safety logic supervising the motion, while the second parts presents the implementation of the embedded control system and its interfacing with the corresponding PC-based application.


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