Development Feasibility of a Universal Industrial Robot/Automation Equipment Controller
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.
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