Design and development of lead-through programming method using low cost incremental encoder feedback

Kanzal, Sameh Mohsen Omer (2015) Design and development of lead-through programming method using low cost incremental encoder feedback. Project Report. Universiti Teknikal Malaysia Melaka, Melaka, Malaysia. (Submitted)

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Abstract

Recently robots are widely used in various fields particularly in industry. Despite this fact, robots still require an undeniable amount of knowledge from the operators or workers who deal with them. As a result, robots cannot be easily programmed if the operator or the worker is not well-experienced in robotics' field. One of the programming methods that has been introduced to make programming task user-friendly is lead-through robot programming. However, the existing lead-through programming methods still require an amount of knowledge that is not available for most of the operators and workers. The main objective of this project is to design a lead through programming method for point-to-point robots' programming using inexpensive incremental encoder feedback, which can record, save and playback the robots' motion while considering the accuracy and precision of the motion. To validate this method, an experiment was conducted in this project, where an operator manually moves a two DOF (degree of freedom) robotic arm on a white board while the encoder feedback was recorded and later the same motion was played back by the robot. Then both recorded and playback trajectories were compared and analyzed. The results show that the played back accuracy is 96.17% for motor 1 and 97.86% for motor 2 with a standard deviation of 0.9593 for motor 1 and 2.33583 for motor 2.

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