Kinematic controller for a Mitsubishi RM501 robot

Crneković, Mladen and Zorc, Davor (2012) Kinematic controller for a Mitsubishi RM501 robot. = Kinematic controller for a Mitsubishi RM501 robot. Transactions of FAMENA, 36 (1). pp. 69-77. ISSN 1333-1124. Vrsta rada: ["eprint_fieldopt_article_type_article" not defined]. Kvartili JCR: Q4 (2012). Točan broj autora: 2.

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Abstract

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.

Item Type: Article (["eprint_fieldopt_article_type_article" not defined])
Keywords (Croatian): Engineering education; Kinematic controller; Robot control
Subjects: TECHNICAL SCIENCE
Divisions: 900 Department of Robotics and Production System Automation > 910 Chair of Engineering Automation
Indexed in Web of Science: Yes
Indexed in Current Contents: No
Citations JCR: 0 (14.09.2018.)
Quartiles: Q4 (2012)
Citations SCOPUS: 0 (14.09.2018.)
Date Deposited: 28 Apr 2015 08:59
Last Modified: 04 Oct 2018 11:50
URI: http://repozitorij.fsb.hr/id/eprint/3957

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