Readjustment of a robot for educational purposes

Abstract

Development of control of a five degrees of freedom robot is discussed in this paper. Only two robots were made, and one of these is in the University of Miskolc. The robot was made in the 80s for educational purposes, the electronic components were obsolete and control software was missing, therefore it became necessary to perform hardware improvements, and develop a new control program. Inverse kinematics problem of the robot is solved by geometric approach to formulate the joint angles, which will form the basis of the control. A braking system containing electromagnets for the robot is constructed to balance it. A printed circuit board is designed to establish the control of the system, the central element is a Cypress PSoC 5LP platform. The development of the control program is performed in software PSoC Creator 4.4. The developed control system of the robot can receive instructions from a computer via a designed special purpose user program, which is written in Python programming language. Thanks to the improvements, the robot has become operational. Thus, the robot can serve educational purposes performing different manipulation tasks. By completing the developments, students can get to know the structure and programming of the robot, its inverse kinematics problem. This will require the development of practice-oriented tasks in the future.