Computer aided control, design of application of robot arm that can be moved in three dimensional space

COMPUTER AIDED CONTROL, DESIGN AND APPLICATION OF ROBOT ARM THAT CAN BE MOVED IN THREE DIMENSIONAL SPACE ( M. Sc. Thesis ) Mehmet ALBAYRAK GAZİ UNIVERSITY INSTITUTE OF SCIENCE AND TECNOLOGY ** ŞJS-. September 1 997 ABSTRACT In this study, by computer aided control system, the design, control and the simulation of the degress of freedom robot arm that can be moved in three dimensional space has been effected. For the control, address decoder device, programmable input / output device, four stepping motor driver device and the devices which has stepping motor breaking device were put on only one control card, that can be placed in one of the 16 bits ISA slots of computer. On prepared card, 48 bits input / output lines are available. 17 of these lines are used as output lines. And the rest of lines are reserved for feedback/The control and simulation of prepared system were effected on computer. Mechanical design which is prepared as prototype of the robot arm that can be used with the aim of education was controlled by this card. Science Code Key Words Page Number Adviser 626.01.00 Robot arm, Computer Aided Control, Simulation 67 Assoc.Prof.Dr. Osman GÜRDAL /