Department of Computer Science and Electrical Engineering
The design presented in this thesis uses a recently released Digital Signal Processor (DSP) that is optimised for digital motion control on each joint of the robot arm, with the individual controllers communicating with each other and the host PC via a Controller Area Network (CAN). Each joint controller is located physically close to the motor it is operating, resulting in a major reduction in the wiring harness complexity and cost. The design rationale and decisions for this controller are given, along with an description of the hardware resulting from this process.
The DSP software written for the controller is overviewed, along with the control techniques to run the robot. Currently, a proportional only controller has been implemented, but the DSP has ample computing power to experiment with more advanced control techniques and such features as real time vibration analysis and damping. The responses of the controllers on each joint are discussed, as are possible future enhancements to the system. A fully functional robot control system is operational, although with a inaccurate control loop, but it is expected that by the end of the semester each joint should be running a full PID controller at an update rate of 20kHz.
Complete Thesis:
thesis.pdf
Conference Paper:
conference_paper.pdf
Appendices:
Appendix A.pdf - Schematics
Appendix B.pdf - PCB's
Appendix C.pdf - Assembler listings
Appendix D.pdf - Starting with the PUMA 560
Appendix E.pdf - Discrete component data (brief)
Appendix F.pdf - IC data (brief)
Appendix G.pdf - Connector pinouts
Additional material:
code sch pcb
images