Modelling, simulation and control of a multi-axis ASEA robot

The paper reports our approach to develop an integrated motion controller for the robot to improve its capabilities and functionalities including trajectory following, objects picking up, as well as its integration, accuracy and repeatability. A simulation model of the robot was constructed using SimMechanics and Simulink to evaluate the performance of the controller, the kinematics and controller parameters of the robot. The developed motion control system is an integration of a PC, a motion controller with interface, a signal interfacing system and the existing motor drive. Experiments were carried out to verify and evaluate the performance of the developed system.