Ball on plate balancing control of a 5DOFs robotic manipulator development | |
| Author | Basnayaka, Malinga Maushadha |
| Call Number | AIT Caps Proj no.ME-15-21 |
| Subject(s) | Manipulators (Mechanism) Robots--Control systems |
| Note | A capstone project submitted in partial fulfillment of the requirements for the degree of Bachelor of Science in Engineering Mechatronics Engineering |
| Publisher | Asian Institute of Technology |
| Abstract | Scorbot er 3 is called laboratory automated robots manufactures on 1982 and its 33 years old robot . The robot controller was in good working condition but its using PIC based microcontroller. This robot is a very old version which runs by software called SCORBASE, an old DOS program that is capable of writing programs to control the robot when executed. Because of the incompatibility between older software and modern hardware and operating systems the robot consists of many faults. The implement the robot development for ball on plate balancing have to implement a control box. After service and component inspection repair the robot mechanical and electrical stages will completed. The first task of the controller electronic implementation on comparator circuit design. Comparator circuit designed to tune any encoder signal because in future if the encoder has to replace with a different encoder then the comparator circuit do not have redesign. The controller circuit will fix one. Also (ET-SMCC V2 -drivers)the motor drivers to drive six motors will developed and both types of circuits will connect to the microcontroller. The end effecter of the robot was modified to ball on a plate balancer. The ball will balance on the end effector by using object tracking. The robot arm end effector should able to keep the ball center of the plate by pitch and roll movements. The plate ball position was taken by developed programing algorithm. |
| Year | 2015 |
| Type | Capstone Project |
| School | School of Engineering and Technology (SET) |
| Department | Department of Industrial Systems Engineering (DISE) |
| Academic Program/FoS | Microelectronics (ME) |
| Chairperson(s) | Somrak Petchartee; |
| Examination Committee(s) | Manukid Parnichkun;Lin, Than; |
| Degree | Capstone Project (M.Eng.) - Asian Institute of Technology, 2015 |