Document Type

Honors Thesis


The University of Texas at Arlington Research Institute’s Automation and Intelligent Systems Lab assigned the task of developing a multi-robotic framework to autonomously identify, sort, and deliver various objects to desired locations in a workspace. One main component of the framework is the AL5D Robotic Arm, which serves as the sorting machine. In an attempt to mitigate the limitations of the hobby grade motors that the AL5D uses, modifications were made to implement a position feedback to its controller. The AL5D’s servo motor showed negligible change in the system response with the application of a digital compensator to the electronic controller. Other alterations made to the AL5D include the implementation of position teaching program and a 3D printed cover for the joints and links. The suggested alterations and the additional functionality implemented onto the AL5D robotic arm serve as a proof of concept for future improvements.

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