Development Feasibility of a Universal Industrial Robot/Automation Equipment Controller

by Dick, Andrew B.

Abstract (Summary)
This thesis defines the general components of a Universal Controller capable of interfacing with most industrial robots and automation equipment. A Universal Controller Simulator is built and tested. We perform a critical evaluation of existing robot equipment from three vendors with respect to the “Open Architecture” concept. The thesis describes the system-level components in detail. We evaluate the current concepts of Plug-n-Play and Universal Plug-n-Play for their relevance to the industrial automation equipment market. We develop a Universal Controller Simulator using Matlab and an open-source Robot Toolbox. The inverse kinematics routine is verified using the analytical solution of a four degree-of-freedom SCARA-type arm. The recursive Newton-Euler algorithm for the inverse dynamics is verified using a PUMA-style arm and a separate recursive Newton-Euler algorithm. We conclude with the limitations and tradeoffs concerning the development effort of a Universal Controller.
Bibliographical Information:


School:Ohio University

School Location:USA - Ohio

Source Type:Master's Thesis

Keywords:industrial robot controller simulator denavit hartenberg inverse kinematics dynamics


Date of Publication:01/01/2006

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