RE: [CAD_CAM_EDM_DRO] Robotic Arm

I�ve not built or controlled robots using a PC but I have studied the
control systems when I wanted to build one. There are used units available
out there that might be a better alternative. They�re a whole lot easier to
tweak.

Your picture shows 5 axis robots and I know that the governing equations for
joint position consist of a matrix algebra equation for each joint, all
being solved simultaneously and continually.

To get the end arm tooling (EAT) to a position in three dimensions, you have
to know where the EAT is now compared to where you want to be. You also need
to know the relative position of each joint. Each joint is solved in series
from the EAT to the last joint (the one nearest the bottom mount) to provide
movement amount and direction.

Each of the matrix algebra equations contains an equation for the �X� �Y�
and �Z� position in space of the joint. Each joint is influenced by the
preceding joint and influences the position of the successive joint because
of the possible positions of the joint with respect to the position of the
previous joint and the position of the successive joint; that is to say that
with the previous joint position and the successive joint position, there is
only one position for the joint of interest. Here are some links to some
very basic examples of matrix algebra and how it�s used to position robotic
joint position. One of these, HYPERLINK
"http://www.techsystemsembedded.com/"www.techsystemsembedded.com, has a
small home built robot along with information about their system.

HYPERLINK
"http://www.ece.clemson.edu/crb/research/robotics/doevr/proposal.doc"http://
www.ece.clemson.edu/crb/research/robotics/doevr/proposal.doc

HYPERLINK
"http://www.isu.edu/~perealba/courses/Chapter2-09-10-05.pdf"http://www.isu.e
du/~perealba/courses/Chapter2-09-10-05.pdf

HYPERLINK
"http://commons.bcit.ca/math/examples/robotics/linear_algebra/index.html"htt
p://commons.bcit.ca/math/examples/robotics/linear_algebra/index.html

HYPERLINK
"http://www.techsystemsembedded.com/Robotics.html"http://www.techsystemsembe
dded.com/Robotics.html

HYPERLINK
"http://info.lu.farmingdale.edu/~imr/linear/robotics.html"http://info.lu.far
mingdale.edu/~imr/linear/robotics.html

Best of luck with your project. I gave up on mine. I decided that I didn�t
want to do the project if it involved the amount of work it looked like it
was going to take to develope the control system. The robot hardware is
easy but the control system and debug looked to be a daunting task for the
money and time. Again, best of luck.

R. Wink





_____

From: CAD_CAM_EDM_DRO@yahoogroups.com
[mailto:CAD_CAM_EDM_DRO@yahoogroups.com] On Behalf Of roboticscnc
Sent: Wednesday, March 28, 2007 2:46 AM
To: CAD_CAM_EDM_DRO@yahoogroups.com
Subject: [CAD_CAM_EDM_DRO] Robotic Arm



Hi group,
Does anyone have experience controlling something like this using a pc
? HYPERLINK
"http://www.robots.com/pick-and-place-robot.htm"http://www.robots.-com/pick-
-and-place--robot.htm
HYPERLINK
"http://www.robots.com/robot-welding-automation.htm"http://www.robots.-com/r
obot--welding-automati-on.htm
This is the scale of what I want to make. One for placing steel items
on a jig, and one for welding.
Thanks,
Glen.


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