A microprocessor based development system for the P-50 industrial robot

With the current interest in the control of robots, the need for an industrial robot as a research tool has become preeminent. This thesis presents the concepts and the design for a microprocessor based development system for the P-50 Process Robot, in an effort to convert it into a Robot Control Development System.

Various control philosophies were reviewed to arrive at a hierarchical control structure that provides maximum flexibility and control over every degree of freedom of the robot arm.

The working of the original controller of the P-50 robot was studied in detail to facilitate design of interface circuits that transfer control of the arm to the augmented controller. All the hardware required for the controller was designed and tested. Guidelines for developing the software as well as schematics for constructing the remaining hardware circuits, are provided. The conclusion discusses modifications that could be made to this design and instructions for using the fully developed controller.