Acrobot

6 DOF Robotic Arm for research and teaching

ACROBOT is a robot arm system with custom joint options, to be used as a test bed for collaborative robotics, intelligent control systems and Industry 4.0.

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OVERVIEW

ACROBOT 6-DOF Robot Arm, with its high technology joint actuators, is a hands-on experiment, closing the gap between real industrial systems and DIY- approach. Users can understand the complex inverse kinematics algorithms and quickly prototype new motion control architecture for industrial parallel kinematics robots. ACROBOT enables the students and researchers to design complex applications and gives them access to the world of industry 4.0. Completely open source software makes it possible that researchers can modify and test their developed algorithms.

FEATURES

Assembled 6 DOF serial kinematic arm robot
Aluminum Cast Joint Structure
Every joint has a high resolution absolute encoder after gear reduction. +/- 0.1 mm repeatability
Actuating the robot by high precision smart servo actuators (3.5 – 4.5 arcmin backlash)
2 kg payload at maximum reach. 960 mm workspace
Position, velocity, and torque (Electrical current sensing) can be controlled
Fully compatible with MATLAB®/Simulink® and LabVIEW™
Denevit-Hartenberg convention model for serial kinematic arm robot in MATLAB®/Simulink® and LabVIEW™
Enables users to create their own real-time algorithms
Open source software architecture with extensive courseware, suitable for undergraduate and graduate courses of robotics and control systems

CURRICULUM

COMPONENTS OF ACROBOT
- Smart Servo Motors
- Controller
- ACROME Power Unit
- RS485 to Serial Converter Module
- Mechanics of the System
FUNDAMENTALS OF SERIAL KINEMATIC CHAINS
- DenavitHartenberg Convention
- Forward Kinematics
- Inverse Kinematics
TRAJECTORY GENERATION
- General Considerations in Path Description and Generation
- Cartesian Space Schemes
- Joint Space Schemes
- Cubic Polynomials
- Higher Order Polynomials
- Linear Function with Parabolic Blends
LINEAR CONTROL OF MANIPULATORS
- Feedback and Closed-Loop Control
- Control of Second Order Linear Systems
- Trajectory Following Control
- Modeling and Control of a single Joint
PROGRAMMING
- Computer Interface of Robotic Software
- Program Tab
- Creating Motion Sets
- Command Tasks
- Structure Options
- Graphics Tab
- Move Tab
- XYZ Coordinate Move
- End Effector Move
- Joint Angle Move