A multitasking PC based robotic ARM manipulator control system in RT-Linux environment

Abstract

Automation in industries helps in achieving the target of quality standardization and process visibility. In overseas the industries are automated using different robots which work efficiently. But in a developing country like ours, we can not afford to import robots from overseas. Again our country is not technically sound enough to produce robots commercially in large scale for industrial usage. Considering these aspects we have prepared a robotic arm manipulator which work under RT-Linux environment. This step will introduce automation in our country. In the RT-Linux environment two or more robotic arms can be operated simultaneously. This environment is established in such a way that multiple tasks can be done at the same time. This is efficient as well as cost effective. In our project the robotic arms are able to pick and place objects controlled by two bipolar stepper motors and a DC motor (for the gripper) for each robotic arm. The motor will be operated in an open loop (without feedback) system. The operation of the Stepper Motor is controlled using RT-Linux to minimize the real-time error (jitter). From one computer we can operate all the manipulators. Stepper motors are used because it gives the steps so precisely. The theoretical results are confirmed with practical application.