Robot manipulator and controller design

Objectives ofthis project are to design and manufacture a robot manipulator arm and the
controller. This robot is a high precision robot rather than a heavy duty. As it is supposed
to reach points in constant speed and with an approximately zero offset error. The robot
to be designed in this project will have three degree of freedom. This robot will be
controlled manually and also it will have the ability to be controlled in an automated way
by using the aim of computer. In this project microcontrollers will be performing as
Communication Bridge between the computer and controller of the robot as well as the
controller itself.
The robot which is to be manufactured in this project is designed to perform pick and
place jobs. The load which is to be treated by this robot is having aweight of1kilogram
in the worst case. It meansthe load could either 1 kilogram or less in term of the weight.
The problem to be considered in this project is to fined the source point either manually
orautomatically exactly as it had been addressed in term ofthe dimensions and then pick
the target piece and deliver it to the destination exactly as it had been addressed by the
user in a constant speed and acceptable time.
Scope ofstudy in this project is to design a feedback control loop which is controlling the
robot movement inthe way that it moves smoothly and it reaches every point in the work
space exactly as it had been addressed, this aim will be achieved by studying the position
of the robot in term of the pulses which will be sent to the microcontroller from the
encoders as feedback information, And then affecting the magnitude of the current which
is flowing trough the DC motor armature by aid ofH-Bridges and microcontroller. This
affect includes maintaining the magnitude of the current, reducing the magnitude of the
current, and finally increasing the magnitude ofthe current.
The position ofthe robot will be approximated based on the number of pulses which is
being detectedby microcontroller.