Controlling a robot arm by using DT51 microcontroller
Robot control is an exciting and challenging problem in the field of robot manipulator. The problem is well known, but also challenging - robot control using a DT51 microcontroller can be described as a form of flexible robotics. The primary purpose of this thesis is to develop an interfacing system using a DT51 microcontroller to control a robot arm. A secondary purpose is to interface the microcontroller with the robot. Through a study of robot control, this thesis has given an insight into the problems of robotic movement such as moving the shoulder 90 degree to the left and enabling the robot to perform various tasks like grabbing a cylinder and then moving it into a box. The theoretical perspective for the proposed study is most commonly referred to as a microcontroller that is applicable to mechatronic system design. The program was written in assembly language and used an SGU robot which was developed by SGU students.
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