Advanced Smart Arm Controller

Haring, R.T. (2018) Advanced Smart Arm Controller. Bachelor's Thesis, Industrial Engineering and Management.

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Abstract

In this integration project, a new controller is designed for a ‘5 degrees of freedom’ robotic arm. This robotic arm consists of six joints with a total of eight servomotors. With the new firmware the control of each servomotors is changed from control of position of every individual joint to voltage control on every servomotor which make state-based control of all joints in one controller possible. In this project, the process of adapting the control of this arm into the already existing system is explained. Implementation of the new control inside the Robot Operating Sytem (ROS) currently running at the DTPA lab gave a lot of complications to overcome. The controller is designed in such a way that it adapts to the number of available servomotors and therefore it works for every number of joints and servomotors defined. Furthermore,the structure reads in the physical dimension of the arms in the same way as the old system does so it is fully applicable with the infrastructure at the DTPA lab. The main result is a state based controller with proportional and derivative control, the advanced controller is a stand alone function, where all the calculations are done, ready for expansion.

Item Type:	Thesis (Bachelor's Thesis)
Degree programme:	Industrial Engineering and Management
Thesis type:	Bachelor's Thesis
Language:	English
Date Deposited:	15 Feb 2018 08:35
Last Modified:	15 Feb 2018 08:35
URI:	https://fse.studenttheses.ub.rug.nl/id/eprint/16427

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