Description

One of the most common application robots in industries is the 3R serial robot. For fast movements these need to be aptly designed and modeled in order to keep the dynamic forces in control. This is achieved by incorporating advance path optimization algorithms in the robot control system. This project comprises of first principal design, modelling and control of a Puma-560 robot. For structural design of links, joints and body advance optimization techniques like topology optimization has been used. Control system design is based on modern state space method where as for control hardware micro controllers have been utilized. For pick-up object detection various image processing algorithms have been tested.