Study on the Control of a Robot with Very Large Number of Freedoms
Shigeru Kurono*, Shigeto Aramaki**, Yoshikazu Fujino* and Takashi Toyofuku***
*Faculty of Engineering, Kyushu Sangyo University, 2-3-1 Matsukadai, Higashi-ku, Fukuoka-shi 813, Japan
**Faculty of Engineering, Fukuoka University, 8-19-1 Nanakuma, Jonanku, Fukuoka 814-01, Japan
***Graduate School, Faculty of Engineering, Kyushu Sangyo University, 2-3-1 Matsukadai, Higashi-ku, Fukuoka-shi 813, Japan
We developed the control system of a robot which has 20 degrees of freedom all of them are controlled with PWM control method through single frequency of radio wave. The radio wave transmitter/receiver developed in this study is able to send and receive the references for servo mechanisms more than 30 degrees of freedom. The transmitter is controlled by a 8-bits microprocessor (Z80) board. This paper introduces the construction of a robot and the architecture of transmitter/receiver unit developed in this study.