Project tutorial
Scorbot ER-V+ Controller & Simulator Design

Scorbot ER-V+ Controller & Simulator Design © CC BY-NC-SA

I have revamped the control system of this 20-year-old 5DOF articulated robotic arm with TP controls and programming interface integrated.

  • 447 views
  • 2 comments
  • 5 respects

Components and supplies

Necessary tools and machines

Apps and online services

About this project

SCORBOT ER-V+ 5-dof Robot Arm Controller and Simulator Design

Greetings from Amit Kumar Nandi.

The Project was initially started as an initiative to revive an old non-working scorbot robot. The project has 2 major parts:

  • Hardware Controller Design
  • Software Simulator

Hardware is designed using PID control of position of motors for each joint from the feedback of their quadrature rotary encoders and command the motor driver to move in order to correct positional errors. Full industrial emergency interlocked control system design with diagnostic through LED and error status displayed on integrated display. Teach Pendant functionality is given and additional serial interface to program the robot from any computer is also implemented in the project. Robot configuration is 5dof + gripper and all 5 joints are rotary(5R).

Software is designed using MATLAB and ROS node in Debian. In ROS, the robot arm model is designed and all the inverse/forward kinematic equations to manipulate the robot arm in positional space is implemented using MATLAB. A custom MATLAB toolbox is designed in using C++ and kehyboard control with teach function and visualisation is implemented using MATLAB GUI library. All the software simulator code can be found at my GitHub.

For More Projects and Information please visit:
NANDI MECHATRONICS

HERE IS A WORKING DEMO OF THE PROJECT:

Enjoy!

Code

Schematics

MAIN CIRCUIT
Robot ckt 1 n5i3puzqvp

Comments

Similar projects you might like

Soldering Iron Controller for Hakko 907

Project tutorial by Alexander

  • 31,768 views
  • 22 comments
  • 70 respects

Personal Home Assistant

Project tutorial by 3 developers

  • 4,384 views
  • 0 comments
  • 29 respects

Circuito Arduino Controller Pad

Project tutorial by AhmedAzouz

  • 2,678 views
  • 1 comment
  • 7 respects

Controlling a Robot with a PlayStation Controller

Project tutorial by Andrew R Gross and Jonathan Gross

  • 3,476 views
  • 1 comment
  • 9 respects

Fox Advisor

Project tutorial by Celia Garrido Hidalgo

  • 3,414 views
  • 2 comments
  • 13 respects

Test DHT22 Sensors with Arduino and MATLAB

Project tutorial by dancili

  • 5,150 views
  • 2 comments
  • 22 respects
Add projectSign up / Login