Design and motion control of an industrial robot manipulator

The aim of this thesis is to study the robot control techniques on 5 degrees of robotmanipulator model, examining the control architectures of industrial robot manipulators.First the kinematic structures of robot manipulators are studied, and then the theories ofkinematic analysis and trajectory planning are applied on the 5 degrees of robotmanipulator model. Based on these theories a pc program is written in Visual Basicallowing the user to program and control the robot model virtually and watch theanimation. Control architecture is constructed referenced to the industrial robotmanipulator control architectures.Motor driver cards are designed and a teach pendant is constructed fort he control andprogram it based on the teaching-by-showing technique.