Digital position and velocity controller for the Rhino XR-3 Robot
Carias, Liliana Grajales
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https://hdl.handle.net/2142/97964
Description
Title
Digital position and velocity controller for the Rhino XR-3 Robot
Author(s)
Carias, Liliana Grajales
Issue Date
1988
Director of Research (if dissertation) or Advisor (if thesis)
Spong, Mark W.
Department of Study
Electrical & Computer Engineering
Discipline
Electrical & Computer Engineering
Degree Granting Institution
University of Illinois at Urbana-Champaign
Keyword(s)
Electrical engineering
Robotics
Rhino XR-3
Microprocessors
Language
en
Abstract
"The objective of this thesis is to improve the quality of the End Effector motion of a five-link, five-joint Rhino XR-3 Robot. This research topic was motivated after observing the performance of the educational Rhino XR-3 Robot in several laboratory projects, and noticing the ""jerky"" nature and inaccuracy of the End Effector movement. Therefore, there was a need to redesign the exist?ng position controller and integrate a velocity controller to he Rhino XR-3 control system. The directions of this research are, therefore, aimed at both the theory a.nd design of a microprocessor controlled system."
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