Title: Modelling, simulation and control of a multi-axis ASEA robot

Authors: L.Q. Tan, S.Q. Xie

Addresses: School of Information Science and Engineering, Central South University, Hunan Province, PR China. ' Department of Mechanical Engineering, The University of Auckland, Private Bag 92019, Auckland, New Zealand

Abstract: The paper reports our approach to develop an integrated motion controller for the robot to improve its capabilities and functionalities including trajectory following, objects picking up, as well as its integration, accuracy and repeatability. A simulation model of the robot was constructed using SimMechanics and Simulink to evaluate the performance of the controller, the kinematics and controller parameters of the robot. The developed motion control system is an integration of a PC, a motion controller with interface, a signal interfacing system and the existing motor drive. Experiments were carried out to verify and evaluate the performance of the developed system.

Keywords: motion control; ASEA robots; robot control; Simulink; SimMechanics; PID control; robot modelling; robot kinematics.

DOI: 10.1504/IJMMS.2009.024353

International Journal of Mechatronics and Manufacturing Systems, 2009 Vol.2 No.1/2, pp.150 - 167

Published online: 01 Apr 2009 *

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