Design and implementation of a wireless remotely

Dissertant

al-Azzawi, Arij Ala Hasan

University

University of Technology

Faculty

-

Department

Department of Control and Systems Engineering

University Country

Iraq

Degree

Master

Degree Date

1999

English Abstract

In the previous decade, robots have established their market in the manufacturing industry.

It is expected, however, that markets will be found in the agriculture, mining, and service industries, and will not be limited to the manufacturing industry.

So, by combining the capabilities of a robot manipulator with those of an automated guided vehicle, a mobile robot is achieved.

Some systems arc designed for research and educational purposes.

Hence; simplicity, clarity, modularity, and expandability of the designed system must be of prime importance.

Wireless remotely controlled mobile robot systems arc also required for some practical as well as educational applications. In this thesis, the mechanism of a robot manipulator (which was equipped with five geared motors that can move the joints and open /close the gripper of (he manipulator) is analyzed firstly.

That was The basic start of the system that is designed.

The completed mechanical structure of the system was analyzed kinematically in order to determine how to control the motion of the carriage and manipulator so as to perform a certain assigned motion task.

The other parts that are included in the design are: - the carriage (that holds the robot manipulator), the control and drive circuitry, and the power supply on which the system runs.

The carriage design is of a generic type consisting of two fixed drive wheels and two castor wheels.

The designed system is capable of receiving and executing motion commands received by wireless link from a command control center (hat is usually a personal computer, the designed system has been tested and showed good performance characteristics.

The equipped battery (4Ah Ni-Cd pack) is capable of supplying the system with power for 98 minutes at about 45% duty cycle.

The reception of motion commands was error-free and repeatability of motion commands was quite accurate and limited only by the mechanical inaccuracies and did not exceed 3.5 as worst-case value.

The execution of motion commands is inhibited when error is encountered in the received motion command. Software is designed to operate and furnish all the functions required by the mobile robot system.

The designed software can be categorized into two parts: the mobile robot control and communication software, and the central control unit software.

Software and hardware arc designed in modular form to ensure the ease of system upgradability.

Main Subjects

Engineering & Technology Sciences (Multidisciplinary)

Topics

• Control systems
• Robots

• APA
• MLA
• AMA

Language

English

Data Type

Arab Theses

Record ID

BIM-306342