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标题：Design And Implementation Of A Robot ARM Control System
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作者：Prof. Hycinth C. Inyiama ; Prof Christiana .C. Okezie ; Maxwell C. Okeke 等
期刊名称：International Journal of Engineering and Computer Science
印刷版ISSN：2319-7242
出版年度：2015
卷号：4
期号：4
页码：11704-11717
出版社：IJECS
摘要：The Design and Implementation of Robot Arm Control System is the subject of this thesis. To achieve the prototype, an appropriate payload waschosen and its torque requirements were carefully calculated. This formed the basis of selecting a motor of appropriate torque. A permanent magnet StepperMotor was chosen for use in constructing the prototype because it delivers a known incremental step for each pattern sent to the motor. The prototype usedfour stepper motors, one at the ankle, one at the base, one at the wrist and one at the shoulder. This made possible, four axis of movement for the Robot Arm.Although a stepper motor can be used to carry out different process control tasks, the particular task assigned to the prototype is a pick and drop processcontrol. The actions required for the Robot Arm during a pick and drop process was subdivided into twelve sub tasks. Each sub task led to a flowchart whichguided the development of the corresponding microcontroller software that helps to achieve the sub tasks. A main program was designed and developed whichcalls each of the twelve sub-routines for pick and drop activities in sequence, at appropriate times in order to achieve the pick and drop process. The 8051Microcontroller was selected because of its ready availability as well as its features that match the pick and drop operation. A fully expanded state transitiontable and a content addressable memory were used to achieve smooth transitions of the Robot control stepper motors. User friendliness was achieved byproviding a Liquid Crystal Display and a Keypad. The system can also be reprogrammed to perform other tasks such as painting,welding, pounding, among others, provided the end effectors are modified to match the operation envisaged. The prototype testingand evaluation show that it met the criteria listed in the design objectives
关键词：Robot arm; Control system; Prototype; Payload; Torque; Microcontroller; Stepper motor