Prototype and Design of Six Axis Robotic Manipulator

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Keywords: industrial manipulators, servostepper motors, cascade control, stateful machine

Abstract

The paper presents a design of six axis manipulator. The design consists of specially designed solutions for housing, planetary gearboxes and electronics. The manipulator is controlled by a supervisory control system. The use of a series of measuring elements allows to track the current position of each axis  and use this to create a cascade control loop with velocity and acceleration feed-forward. The implemented control algorithm together with the microcontroller software allows to tune parameters of the controllers for both control loops: inner, related to the speed of the robot and outer, related to it’s position.

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Published
22.03.2023
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Articles

How to Cite

Pająk, M., Racław, M. ., & Piotrowski , R. . (2023). Prototype and Design of Six Axis Robotic Manipulator . Journal of Automation, Mobile Robotics and Intelligent Systems, 16(1), 46-52. https://doi.org/10.14313/JAMRIS/1-2022/5