Project Basics:
A robotic controller is basically equivalent to the human brain for any robotic system. The controller not only, controls and keeps track of the position of each actuator in the robotic system. It controls the velocity and acceleration components of each actuators.
I was assigned a task in my final year of bachelors to make a custom controller for one a five degrees of robotic arm (5-DoF). The robotic arm was Rhino XR-4. A native bulky robotic arm with six permanent-magnet DC (PMDC) servo-motors of Pittman company. Each motor has bi-directional rotatory encoders for position tracking and feedback. Rhino XR-4 comes with its own controller i.e Mark IV controller. Mark IV is an out-dated and the one in my department was not working properly.
The following major tasks were completed during the designing of the controller.
I have uploaded the final detailed report of this project below for anyone who wants to continue this project further. Future work may include the wireless control of this controller (even with Smart-phones), integration of pressure or tactile sensor at the end-effector for sensing proper grabbing etc and vision control.
Project Supervisors:
Dr. Ali Raza Jafferi (Chairman of Biomedical Department, NEDUET)
Mr. Saad Abduallah
Group members:
Muhammad Hassan Khan
Danial Sikandar.
For any queries, I can be reached at my e-mail account provided in Contact tab above.
Thank you.
I was assigned a task in my final year of bachelors to make a custom controller for one a five degrees of robotic arm (5-DoF). The robotic arm was Rhino XR-4. A native bulky robotic arm with six permanent-magnet DC (PMDC) servo-motors of Pittman company. Each motor has bi-directional rotatory encoders for position tracking and feedback. Rhino XR-4 comes with its own controller i.e Mark IV controller. Mark IV is an out-dated and the one in my department was not working properly.
The following major tasks were completed during the designing of the controller.
- Implementation of position control of each joint with rotatory encoders
- Implementation of Proportional Integral Derivative (PID) algorithm for each motors' position and speed
- Deriving the forward kinematic equations for Rhino XR-4 Robotic Arm
- Implementing these kinematic equations into controller's programming
- Cross checking the results of controller with a simulation software (RoboAnalyzer)
- Designing a simple 3D model of Rhino XR-4 for a better visualization (for learning purposes)
- Designing a user friendly Graphical User Interface (GUI)
I have uploaded the final detailed report of this project below for anyone who wants to continue this project further. Future work may include the wireless control of this controller (even with Smart-phones), integration of pressure or tactile sensor at the end-effector for sensing proper grabbing etc and vision control.
Project Supervisors:
Dr. Ali Raza Jafferi (Chairman of Biomedical Department, NEDUET)
Mr. Saad Abduallah
Group members:
Muhammad Hassan Khan
Danial Sikandar.
For any queries, I can be reached at my e-mail account provided in Contact tab above.
Thank you.