The hardware and software design and implementation of a Robot system

A robot arm system with three axis of freedom is designed and constructed. The three degrees of motion consists of 330 degrees of rotation around the base axis and two arms of approximately 18 inches long with 90 degrees of rotation at their joints. The robot arm has the ability to carry a load of up to six pounds at the end of the second arm.

Analog feedback control theory is applied to control the motion of the two arms. A microprocessor based computer ( SBE 200), coupled with digital control, is utilized to control the motion of the base axis. The FORTH programming language and Intel 8085 assembly language are used to develop the supporting software programs.