Robotics for nuclear waste handling

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.

Name thesis:degree_name

Master of Science (MS)

Level thesis:degree_level

Thesis

Discipline thesis:degree_discipline

Electrical and Computer Engineering

Grantor dc:publisher

University of Nevada, Las Vegas

Year

1996

Author dc:creator

• Chen, Tao

Contributors dc:contributor

• Ashok Iyer

Statement dc:rights

• IN COPYRIGHT. For more information about this rights statement, please visit http://rightsstatements.org/vocab/InC/1.0/

Identifier

https://oasis.library.unlv.edu/rtds/830

OAI identifier oai:identifier

oai:oasis.library.unlv.edu:rtds-1829