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Session 2647

Menu-Driven Control of the MiniMover-5 Robot

Zhongming Liang Purdue University Fort Wayne

Abstract

The paper discusses a utility program developed by the author for the MiniMover-5 robot system. The program provides menu-driven control of the robot and allows students to easily work with robot positions. The paper also includes an example of using the utility program for a project, in which two MiniMover-5 robots were controlled with their interface units receiving inputs from sensors at a conveyor.

The MiniMover-5 Robot System

This paper discusses a significant improvement in the robotics lab for course CIMT 365 Robotics Applications. It is a junior-level course in the curriculum of the ABET accredited MET program in the manufacturing technology department of Purdue University Fort Wayne. The three-credit course has two-hour lecture and three-hour lab in each of the fifteen weeks in a semester. Students in the MET program take a series of courses in computer programming and automatic control including: . CS (Computer Science) 114 Structured Microcomputer Programming . CS 210 Computer Programming Fundamentals . EET (Electrical Engineering Technology) 211 Electrical Machines and Controls . CIMT (Computer Integrated Manufacturing Technology) 345 Computer Numerical Control . CIMT 365 Robotics Applications . CIMT 384 Instrumentation and Automatic Control

The laboratory for course Robotics Applications has five Apple-PC controlled MiniMover-5 educational robots, one Esched Robotec Scorbot ER-111 educational robot, and three Mitsubishi Movemaster RV-M1 industrial robots.

The MiniMover-5 robot is valuable for teaching fundamentals of robotics, which has been noted by many educators. For example, Douglas Malcolm, Jr., James Fuller and Phillip McKerrow discussed the planetary bevel gear system of the robot mechanical gripper. Phillip McKerrow also discussed the controller and the kinematics of the robot. Ray Asfahl discussed the gripping force sensing, the keyboard control, and 1 2 3>4 program control of the robot. ’ ’ From an educational point of view, the robot system also demonstrates the disadvantage of the open-loop control and the necessity of an established hard home, in comparison with other robot systems in the lab.

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Liang, Z. (1996, June), Menu Driven Control Of The Mini Mover 5 Robot Paper presented at 1996 Annual Conference, Washington, District of Columbia. 10.18260/1-2--6187