this was my graduation project
handling robotic arm
4 DOFs
electrical actuators (servo motors)
custom made offline programming
I had to make every component in this arm
from the servo drives to the programming software
some technical details:
1-servo systems
Motor type:DC brushed motors
feedback device "potentiometer"
driver controller "embedded AVR mega8 as a digital controller with 500 samples/sec"
2-custom made interface protocol inspired by the MODBUS industrial PLC protocol
the idea is that you present the drivers as memory pages for the controller where each byte represent a specific command or status
3- Pc interface media is RS232
4- offline programmer
language is visual basic 6
Directx 8 for the graphics
trajectory planning (ptp or motion through series of points )is supported
Now i leave you with the videos
offline programmer
custom made offline programming software for a homemade robotic armvideo of the real arm
4 dof robot arm offlline programming supported
