General description
General description
ROBED03 is a new design solution for educational robots in Robotics Laboratory, Mihailo Pupin Institute. This solution is realized using previous experience in design and development of educational robots ROBED01 and ROBED01M and other 10 designs of industrial robots in Robotics Laboratory. ROBED03 is a small industrial robot for research laboratories and industrial applications. The appropriate small dimensions of this robot, contemporary software for education and its professional production enable efficient application in the various educational institutions. ROBED03 consists of the following modules: manipulator ROBED03, power unit,PC-based controller and educational software.
EDUC03 Robot Controller
Robot Controller EDUC03 for ROBED03 is a PC-based robot controller. Its user interface is realized as an interactive system with a multi-layer menu. Beside standard robot language commands,some additional instructions for modifying system parameters and the control structure are included in robot programming language. The control module includes kinematic,dynamic and digital regulator modules. The compensation of dynamic effects is based on the complete dynamic robot model. In the control structure some special blocks are included: feedforward block, block for the compensation of Coriolis, centrifugal and gravitational effects, block for acceleration compensation, block of PID regulators. It is possible to generate various forms of control laws including and excluding of particular blocks. Also, the control structure can be modified.
Potential users
Technical characteristics
| Structure of the robot mechanism | Antropomorphic vertical configuration |
| Degrees of freedom | 5 axes + gripper |
| Drive systems | DC servomotors with optical encoders |
| Working area for 1.D.O.F | Base rotation about vertical axis: 310 degrees |
| Working area for 2.D.O.F. | Upper arm rotation about horizontal axis: 190degrees |
| Working area for 3.D.O.F. | Forearm rotation about horizontal axis: 220degrees |
| Working area for 4.D.O.F. | Wrist-pitch rotation about longitudinal axis: 200degrees |
| Working area for 5.D.O.F. | Wrist-roll rotation about longitudinal axis: 300degrees |
| Gripper opening | Maximum 52 mm |
| Maximal velocity | 1m/s with 1kg payload
1.2 m/s without payload |
| Payload | 1kg |
| Repeatability | +/- 0.25 mm |
| Transmission | Harmonic Drive and Synchroflex belts |
| Limit Detection | Photo-interupters and software limiters |
| Weight | 21 kg |
Back to Robotics Laboratory Main Page