Philippine E-Journals

Development of a MATLAB-Based Controller for the CRS Robotics A255 Robot Arm

Arthur Pius P. Santiago

Discipline: Engineering, Technology

 

Abstract:

This study focuses on the development of a Windows-based controller for the CRS Robotics A255 Robot Arm. Previously, the controller interface for the robot arm is DOS based making it difficult to use. The result of this study is a user-friendly controller which utilizes a graphical user interface (GUI) generated by MATLAB with the use of the Robot Toolbox by Peter Corke. Movements modeled on the host computer are then mimicked by the robot arm. In driving the robot arm's motors, an external circuit was built using LM628 motion controller ICs. All data exchange between the host computer and the external circuitry is done through serial communications. Comparison between simulated movement and actual robot movement and behavior were used to gauge the effectiveness of the robot arm controller.