Iqbal, U. sama; Samad, Abdul; Nissa, Zainab; Iqbal, Jamshed
November 2014
Tehnicki vjesnik / Technical Gazette;Nov/Dec2014, Vol. 21 Issue 6, p1255
Academic Journal
This research introduces an open-source framework, AUTonomous Articulated Robotic Educational Platform (AUTAREP). The platform is centred on a 6 Degree Of Freedom (DOF) arm with multiple feedbacks to ensure precision and autonomy. The sensory system consists of vision, position and force feedbacks while the actuation system comprises six precise DC servo motors. In particular, this paper presents the design of an embedded controller for AUTAREP. The proposed design of the control hardware and software interface has been tailored as per academic requirements of relevant undergraduate and postgraduate courses. Low level commands have been provided to permit readily development of applications for trainees. Advanced users can further exploit the open-source architecture of the platform. The performance of the proposed control system has been demonstrated by various experiments on the fabricated hardware. The control has been subjected to various test inputs to analyse its transient and steady state behaviour. The robot has been tested to achieve a set-point position successfully and the encoder data corresponding to all the joints has been recorded. Finally, a common application of "pick and place" has been implemented. The proposed platform is potentially beneficial in teaching engineering courses, training in industrial sector and research of advanced algorithms.


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