engleski

Kinematic Controller for a Mitsubishi RM501 Robot

In this paper we describe the revitalization and upgrading of a Mitsubishi RM501 robot, using a "kinematic controller". With this upgrade, problems of the old fashioned Centronics parallel communication to the robot are solved and the command set of the robot and its abilities are improved. The basic function of the kinematic controller is to enable the user to set the robot position directly in external coordinates and to receive information about the position and status of the robot. For this purpose, a complete kinematic model of the robot is put into the kinematic controller. This feature also enables the robot not to collide with the basis. Besides the basic commands of the robot, a set of useful commands are added to improve the robot language syntax. The kinematic controller was designed using the Atmel 8-bit microcontroller that is used in education. All these changes result in a great improvement in the educational process with the robot and enable the user to program the robot in a higher level.

robot control ; kinematic controller ; engineering education

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