Master-slave control system for a novel robot design Public Deposited

http://ir.library.oregonstate.edu/concern/graduate_thesis_or_dissertations/6d5701117

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  • This thesis presents my research on the hardware and software for control of a novel robot based on the Stewart Platform. The robot has six actuators which must be adjusted to arrive at the desired position of the platform. This position must be specified by six position parameters; namely the coordinates (X₀, Y₀, Z₀) of a point on the platform and the Euler angles (α, β, γ) of the platform. In order to control the motion of the platform we must determine the lengths of the six actuators required to bring the platform into the desired position and orientation; this is most easily done by using coordinate transformations. Homogeneous coordinates provide a way to represent any coordinate transformation by a matrix multiplication. A master-slave control system was constructed. It consists of an AIM-65 microcomputer and six discrete component controllers using transistor-transistor logic (TTL). Each controller has a 16-bit D-type register with clear, a 16-bit comparator and a 16-bit up/down counter. A complete and detailed examination of the motion of the robot is beyond the scope of this work, However, several planar sections through the range of motion give some impression of the complete range of motion.
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  • description.provenance : Approved for entry into archive by Patricia Black(patricia.black@oregonstate.edu) on 2013-08-27T16:34:36Z (GMT) No. of bitstreams: 1 DingFeiFei1982.pdf: 1551365 bytes, checksum: dfa838f3ad36c9f21ead11881093d1a1 (MD5)
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