Upgrade of a GEP50 robot control system

Ali T. Alounai; Imed Gharsalli

doi:10.1117/12.380578

30 March 2000 Upgrade of a GEP50 robot control system

Ali T. Alounai, Imed Gharsalli

Proceedings Volume 4055, Applications and Science of Computational Intelligence III; (2000) https://doi.org/10.1117/12.380578
Event: AeroSense 2000, 2000, Orlando, FL, United States

Abstract

Recently the ASL at Tennessee Technological University was donated a GEP50 welder. The welding is done via off line point-to-point teaching. A state of the art robot was needed for research but because money was not available to purchase such an expensive item. It was therefore decided to upgrade the GEP50 control system to make the welder a multitasking robot. The robot has five degrees of freedom can be sufficient to pursue some research in robotics control. The problem was that the control system of the welder is limited to point-to-point control, using off-line teaching. To make the GEP50 a multitasking robot that can be controlled using different control strategies, the existing control system of the welder had to be replaced. The upgrade turned to be a low cost operation. This robot is currently in sue to test different advanced control strategies in the ASL. This work discusses all the steps and tasks undertaken during the upgrade operation. The hardware and software required or the upgrade are provided in this paper. The newly developed control system has been implemented and tested successfully.

Citation Download Citation

Ali T. Alounai and Imed Gharsalli "Upgrade of a GEP50 robot control system", Proc. SPIE 4055, Applications and Science of Computational Intelligence III, (30 March 2000); https://doi.org/10.1117/12.380578

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