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Proceedings Paper

Industrial robot
Author(s): A. Prakashan; H. S. Mukunda; S. D. Samuel; J. C. Colaco
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Paper Abstract

This paper addresses the design and development of a four degree of freedom industrial manipulator, with three liner axes in the positioning mechanism and one rotary axis in the orientation mechanism. The positioning mechanism joints are driven with dc servo motors fitted with incremental shaft encoders. The rotary joint of the orientation mechanism is driven by a stepping motor. The manipulator is controlled by an IBM 386 PC/AT. Microcomputer based interface cards have been developed for independent joint control. PID controllers for dc motors have been designed. Kinematic modeling, dynamic modeling, and path planning have been carried out to generate the control sequence to accomplish a given task with reference to source and destination state constraints. This project has been sponsored by the Department of Science and Technology, Government of India, New Delhi, and has been executed in collaboration with M/s Larsen & Toubro Ltd, Mysore, India.

Paper Details

Date Published: 1 November 1992
PDF: 10 pages
Proc. SPIE 1825, Intelligent Robots and Computer Vision XI: Algorithms, Techniques, and Active Vision, (1 November 1992); doi: 10.1117/12.131566
Show Author Affiliations
A. Prakashan, S. J. College of Engineering (India)
H. S. Mukunda, S. J. College of Engineering (India)
S. D. Samuel, S. J. College of Engineering (India)
J. C. Colaco, M/s Larsen & Toubro (India)


Published in SPIE Proceedings Vol. 1825:
Intelligent Robots and Computer Vision XI: Algorithms, Techniques, and Active Vision
David P. Casasent, Editor(s)

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