Design of joint controller for Mitsubishi PA10 robot arm

Abstract

In this thesis we present the design of circuit and algorithms for controlling the joint of Mitsubishi PA10 Robot Arm. To control the entire Mitsubishi PA10 arm robot, which all the joints equip with a permanent magnet synchronous motor (PMSM) for rotation and two resolvers as feedback devices, one for joint angle position of the joint and another one for rotor angular position of the motor at the jont. For the controller design, the first focus is on theory and hardware needed for driving the robot joint in order to build the circuit board of the controller. The second part is to program the board for controlling the joint of the robot according to command sent from the PC via serial communication. The joint controller is really important as it is the sub-controller for the whole-robot controller system of the robot. The future aim of the joint controller design in this thesis is to be able to drive the whole PA10 robot arm when combining seven of this controller to meet the seven joints of the robot.