The Design and Development of a Control System for a T3-776 Robot

Abstract

A robot control system was designed, developed and tested at The University of Texas at Austin for a six degree of freedom (T976) industrial robot. The new robotic control system can be divided into two major subsections; the servo amplifiers and the system controller. The following article discusses the improvements in performance, -me of the implementation difficulties, and the lessons learned during the implementation of the new control system. The origiial system consisted of an inflexible system controller and SCR based power ampliiers. The new system controller has a 32 bit high- speed pr that can be easily expanded, reprogrammed, and interfaced to other computers. The servo amplifiers use a PWM methodology to control an €I-bridge which utilizes state of the art Insulated Gate Bi-polar Transistor (IGBT) power modules, and is capable of both current and velocity control.