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Manipulator control board

The Mechatronics Research Centre (MRC) owns a small scale robot manipulator called a Mini-Mover 5. This robot arm is a microprocessor-controlled, six-jointed mechanical arm designed to provide an unusual combination of dexterity and low cost. The Mini-Mover-5 is operated by a number of stepper motors and is controlled by a PC parallel port via a discrete logic board. The manipulator also has an impoverished array of sensors. This project requires that a new control board and suitable software be designed to allow the manipulator to be controlled from a PC. The control board will also provide a mechanism for the values measured using some sensors to be returned to the PC. On this project I will consider: stepper motor control requirements, sensor technologies, power requirements, USB protocols, USB hardware and software development and control requirements (e.g. sample rates). In this report we will have a look at robots history and background, as well as we will concentrate how stepper motors and parallel port work

Manager: Tubb, Christopher
Other contributions: Universitat de Girona. Escola Politècnica Superior
Author: Lillo Holgueras, Tania
Date: 2006 January
Abstract: The Mechatronics Research Centre (MRC) owns a small scale robot manipulator called a Mini-Mover 5. This robot arm is a microprocessor-controlled, six-jointed mechanical arm designed to provide an unusual combination of dexterity and low cost. The Mini-Mover-5 is operated by a number of stepper motors and is controlled by a PC parallel port via a discrete logic board. The manipulator also has an impoverished array of sensors. This project requires that a new control board and suitable software be designed to allow the manipulator to be controlled from a PC. The control board will also provide a mechanism for the values measured using some sensors to be returned to the PC. On this project I will consider: stepper motor control requirements, sensor technologies, power requirements, USB protocols, USB hardware and software development and control requirements (e.g. sample rates). In this report we will have a look at robots history and background, as well as we will concentrate how stepper motors and parallel port work
Format: application/pdf
application/zip
Document access: http://hdl.handle.net/10256/7584
Language: eng
Collection: Enginyeria Tècnica Industrial. Electrònica Industrial (ETIEI)
Rights: Attribution-NonCommercial-NoDerivs 3.0 Spain
Rights URI: http://creativecommons.org/licenses/by-nc-nd/3.0/es/
Subject: Robots mòbils
Robots -- Sistemes de control
Mobile robots
Robots -- Control systems
Title: Manipulator control board
Type: info:eu-repo/semantics/bachelorThesis
Repository: DUGiDocs

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