{"id":{"repo_id":"unlv","oai_identifier":"oai:oasis.library.unlv.edu:rtds-1829"},"canonical_url":"https://search.dev.ndltd.org/etd/unlv/oai:oasis.library.unlv.edu:rtds-1829","repository":{"repo_id":"unlv","name":"University of Nevada - Las Vegas","base_url":"https://oasis.library.unlv.edu/do/oai/"},"display":{"title":"Robotics for nuclear waste handling","abstract":"This research focuses on the development of the control system of a dual arm industrial robot. A controller for the position control of unconstrained robot arm is also presented. System architecture, hardware configuration and software development are discussed in detail; The experimental set-up consists Remotec's RM-10A dual arm manipulator. Each arm has six separate motorized motions with position sensors. The manipulator is controlled by a Texas Istruments' TMS320C40 parallel Digital Signal Processors installed on the QPC/C40B Board. The PID control software which is embedded on the Digital Signal Processor is developed using C language. A Graphical User Interface is also developed using Microsoft Visual C{dollar}\\sp{++}{dollar} to facilitate easy operation of the robot.","abstract_html":"This research focuses on the development of the control system of a dual arm industrial robot. A controller for the position control of unconstrained robot arm is also presented. System architecture, hardware configuration and software development are discussed in detail; The experimental set-up consists Remotec's RM-10A dual arm manipulator. Each arm has six separate motorized motions with position sensors. The manipulator is controlled by a Texas Istruments' TMS320C40 parallel Digital Signal Processors installed on the QPC/C40B Board. The PID control software which is embedded on the Digital Signal Processor is developed using C language. 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