Modeling and Control of Cartesian Robot Manipulator

Abstract

To analyze qualitatively the dynamical responses of a manipulator various factors are to be considered. In this paper we have developed kinematics and dynamics model for a cartesian robot manipulator (CRM). A 3-axis controller was designed, developed and interfaced with the manipulator. The developed model and controller were programmed in C++ language and the tests results were plotted in Microsoft Excel. Various tests were performed on system to evaluate performance of the model and the controller. The results that were obtained from these tests were plotted and have been discussed. An application for drilling purpose was also developed