Development and Control of 7-DOF Robotic Manipulator

Project Title

Development and Control of 7-DOF Robotic Manipulator

Project Area of Specialization RoboticsProject Summary

HCR lab is indigenously developing a 7-DOF collaborative robot for typical industrial applications. The collaborative manipulator is expected to meet the modern needs of the national industry.

The 7-DOF Robotic arm Manipulator has high degree of flexibility, redundant workspace and can perform many complex tasks for humans, therefore widely used in many fields. In this project we will propose a solution to solve the inverse kinematic of a 7-DOF model. Our purpose will be to derive equations of the endpoint of each joint and correspondingly the feasible space arm-angle when the endpoint of the robot arm is given. Specially this project will focus on creating a control system for joints of the manipulator.

We will program our control system using Beckhoff’s TwinCAT. The Windows Control and Automation Technology software is going to be utilized because TwinCAT automation suite forms the core of the control system and it gives us an all-in-one platform to create high-speed, reliable control architectures. It offers programming in either C or PLC’s structured text. For our manipulator we are going to use structured text.

The robotic manipulator, in general, has been widely utilized in Automatic Production Line. 7DOF manipulators, due to their narrow workspace and complex movement, finds their applications mainly in Automobile, nuclear and Aerospace industries since they include tasks unperformable by humans. Curve welding is one of the examples which requires precise movements unachievable by human hands.

Project Objectives

• Forward and Inverse Kinematics Of 7 dof redundant manipulator
• Control scheme implementation and simulation
• Hardware implementation through Industrial based Ethercat Protocol

Project Implementation Method

• Forward Kinematics
• Inverse Kinematics 
• Control Scheme 
• Implementation of control scheme and Kinematics on matlab
• Implementation of control scheme with hardware of the robot
• Plc based Maxon motion control

Benefits of the Project

• Indigenous development of 7Dof Manipulator
• Step towards industry 4.0

Technical Details of Final Deliverable

• 7Dof Manipulator
• Control Box(7 independent controls inside)
• Software GUI
• Teach Pendant 

Final Deliverable of the Project HW/SW integrated systemCore Industry ManufacturingOther Industries Education Core Technology RoboticsOther Technologies OthersSustainable Development Goals Industry, Innovation and InfrastructureRequired Resources

Item Name	Type	No. of Units	Per Unit Cost (in Rs)	Total (in Rs)
			Total in (Rs)	80000
Incremental Encoder	Equipment	3	20000	60000
Manufacturing Material	Equipment	1	10000	10000
Electronic Items	Miscellaneous	1	4000	4000
Report Printing	Miscellaneous	1	6000	6000