The low-cost modular robotic manipulator is suitable for demonstrating the functionality of basic components, used in robotic manipulators since the architecture of the entire system is much simpler and more accessible than for higher-end robotic manipulators.
This document presents the development of a low-cost modular robotic manipulator with an absolute magnetic rotary encoder in the joint. The chapters in the work are organized in a sequence that is consistent with the entire process of developing the presented prototype.
The first part of the thesis covers the results of the research part of the development, which involves the analysis of products and components in the market for low-cost modular robotic manipulator production. The second part first presents the ideas and design concept. Furthermore, robot manipulator design is presented including a description of components that were used. Robot control is also presented including the software used for its implementation.
Our objective is to develop modular software and hardware that can be used in other applications and robotic assemblies. The concept is designed so that the robotic manipulator can be suitable for the open-source community as an open-source project. Therefore, the open-source development board Arduino Due is used for robot control.
For the Arduino Due, a library for communication with the Orbis absolute magnetic encoder has been designed. The robot control system is described including the software and communication.
The use and functionalities of the absolute encoder in a robotic application have been presented. The problems and solutions introduced in the paper can be used as a reference for a low-cost modular robot manipulator design.
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