Development of a real-time controller for a robot arm

Consulta en la Biblioteca ETSI Industriales (8697)[ES] The industrial robotics is a growing field. Robotic arms are the most used industrial robots. They are versatile tools able to perform different tasks. Despite of the advantages using a robotic arm, the diversity of controllers in the robotic arms industry is an important drawback. For this reason a generic controller is proposed. The aim of this master thesis is to design and implement a generic controller for robotic arms that can be used with different models of robots. The proposed controller has a modular design, it is designed with real time capabilities and the user can be a human or a system. The developed work starts with the analysis of the system requirements. Then, the analysis of the different use cases between the system user and the controller is presented. The system development includes the design of the user interface, the controller core, the real time capabilities as well as the interface to manage the attached robot. In another stage of this work the implementation was performed. Multiple tests in order to prove the system were defined and executed. The obtained results of such tests are reported in this thesis. The properly operation of the designed parts have been successfully checked through the controller implementation. This thesis presents an approach aimed to obtain a common platform for educational and research on robotic arms. In addition it gives a potential solution to one problem on robotics industry.Sala Almonacil, A. (2011). Development of a real-time controller for a robot arm. http://hdl.handle.net/10251/29574.Archivo delegad