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Proceedings Paper

Upgrade of a GEP50 robot control system
Author(s): Ali T. Alounai; Imed Gharsalli
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Paper Abstract

Recently the ASL at Tennessee Technological University was donated a GEP50 welder. The welding is done via off line point-to-point teaching. A state of the art robot was needed for research but because money was not available to purchase such an expensive item. It was therefore decided to upgrade the GEP50 control system to make the welder a multitasking robot. The robot has five degrees of freedom can be sufficient to pursue some research in robotics control. The problem was that the control system of the welder is limited to point-to-point control, using off-line teaching. To make the GEP50 a multitasking robot that can be controlled using different control strategies, the existing control system of the welder had to be replaced. The upgrade turned to be a low cost operation. This robot is currently in sue to test different advanced control strategies in the ASL. This work discusses all the steps and tasks undertaken during the upgrade operation. The hardware and software required or the upgrade are provided in this paper. The newly developed control system has been implemented and tested successfully.

Paper Details

Date Published: 30 March 2000
PDF: 11 pages
Proc. SPIE 4055, Applications and Science of Computational Intelligence III, (30 March 2000); doi: 10.1117/12.380578
Show Author Affiliations
Ali T. Alounai, Tennessee Technological Univ. (United States)
Imed Gharsalli, Tennessee Technological Univ. (United States)


Published in SPIE Proceedings Vol. 4055:
Applications and Science of Computational Intelligence III
Kevin L. Priddy; Paul E. Keller; David B. Fogel, Editor(s)

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