ABSTRACT
In this paper, a drilling machine was considered. This was modified into a six grades of mobility robot with rotation joints. Each joint is driven by AC or stepper drives with power electronics. To control the movement elements of robot the hierarchically hardware is assumed. Control software is implemented in two parts of system one at high level in PC-memory and the second at intermediary level in microcontroller ROM-memory as local BIOS. The mathematical model is determined as twelve transcendental equations written by Khalil-Kleinfinger methods. The movement of robot arm is determined using a cinematic inverted model and the graphic simulation program is written. Inverting the equations by software, six θi, components of position vector are determined. So, for each given position and orientation is possible to find the coordinates of robot’s elements. On the other hand, a digital signal is outputted at the output port. in order to control the robot drives. in real time. A package of programs written in assembly language is implemented to a PC microcomputer at high level and to microcontrollers at intermediary level.
