| Electric, fluid and pneumatic drive systems are commonly used in manipulators. Electric drives include both DC and AC motors. Manipulators are configured with DC drives for many industrial applications. These applications may also be classified as speed and torque controls. Expectation of DC actuators is to run at speed control mode as long as their limiting torque is not exceeded and to switch to torque control mode to overcome overload issue. Currently, DC motors are driven by discrete and customized variable DC signals with single and 3-phase power supplies. Also, sensors for monitoring are not standardized to address signals for mode control switching. The objective of this thesis is to integrate a DAC (Digital-to-Analog Converter) device with high resolution and response with established computer logic systems with the view to achieve both speed and torque control of manipulators. Integrated Experimental setup is completed which includes development of 8085 based microcontroller and interfacing computer logic with Digital-to-Analog converters, DC motor, power op-amp and other components. Also programming of the 8085 microcontroller is done using assembly language in order to implement dual mode control of DC motor. |
