<abstract xmlns="http://www.w3.org/1999/xhtml">

<p>The paper presents a design for a six-axis manipulator. The design consists of specially designed solutions for housing, planetary gearboxes, and electronics. The manipulator is controlled by a supervisory control system. The use of a series of measuring elements allows tracking of the current position of each axis. This can be used to create a cascade control loop with velocity and acceleration feed-forward. The implemented control algorithm together with the microcontroller software allows one to tune parameters of the controllers for both control loops: inner, related to the speed of the robot; outer, related to its position.</p>
</abstract>

The paper presents a design for a six-axis manipulator. The design consists of specially designed solutions for housing, planetary gearboxes, and electronics. The manipulator is controlled by a supervisory control system. The use of a series of measuring elements allows tracking of the current position of each axis. This can be used to create a cascade control loop with velocity and acceleration feed-forward. The implemented control algorithm together with the microcontroller software allows one to tune parameters of the controllers for both control loops: inner, related to the speed of the robot; outer, related to its position.

Prototype and Design of Six-Axis Robotic Manipulator

Journal of Automation, Mobile Robotics and Intelligent Systems

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.

{"article-title":"Prototype and Design of Six-Axis Robotic Manipulator"}

The paper presents a design for a six-axis manipulator. The design consists of specially designed solutions for housing, planetary gearboxes, and electronics....

Prototype and Design of Six-Axis Robotic Manipulator

Publié en ligne: 04 avr. 2023

Pages: 46 - 52

Reçu: 21 juil. 2021

Accepté: 22 févr. 2022

DOI: https://doi.org/10.14313/jamris/1-2022/5

Mots clés
industrial manipulators, servostepper motors, cascade control, stateful machine

© 2022 Mateusz Pająk et al., published by Sciendo

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.

Prototype and Design of Six-Axis Robotic Manipulator

Publié en ligne: 04 avr. 2023

Pages: 46 - 52

Reçu: 21 juil. 2021

Accepté: 22 févr. 2022

DOI: https://doi.org/10.14313/jamris/1-2022/5

Mots clésindustrial manipulators, servostepper motors, cascade control, stateful machine

© 2022 Mateusz Pająk et al., published by Sciendo

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.

Mots clés
industrial manipulators, servostepper motors, cascade control, stateful machine