Abstract
Developing an environment that enables optimal and flexible design of robot manipulators using universal reconfigurable links, joints, controllers, actuators and sensors is an essential step for efficient robot design and prototyping. Robot control has to be made by a universal controller with remote hardware and software reconfigurations. This technique allows to create an optimal configuration of software and hardware components for designing of the specialized robot, its algorithmic control and rapid prototyping.
Highlights
The large attention is given to a problem of robots creation and implementation
The scientific interest is rep resented by the tasks on designing and creation of reliable remote control tools by such manipulators
This paper presents a web based control solution for a manipulator
Summary
The large attention is given to a problem of robots creation and implementation. One of the important directions is the creation of cheapest and effective manipulators, which find more implemen tation in industry. The scientific interest is rep resented by the tasks on designing and creation of reliable remote control tools by such manipulators. For efficiency of the tasks solution performed by manipulators it is necessary to create a framework for it designing. A complex Application Programming Interface (API) for the control of the SIR1 robot Available functions include direct/inverse kinematics computation, serial port communication interfacing, and link speed control. The API can support an indefinite number of port connections and control a theoretically indefi nite number of SIR1 robots. Due to the high avail ability of serial ports on standard PCs, this API can be deployed virtually anywhere and in any envi ronment, including the Internet, for almost any ap plication. The designed robot features base rotation, shoul der, and elbow and wrist motion with a functional gripper along with two additional servos to provide different steering.
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