| Summary: | 碩士 === 雲林科技大學 === 電機工程系碩士班 === 98 === This thesis developed a control system for robot arm using CAN bus communication network, and applied Maxon motor as joint and Maxon position controller as motor driver. This research developed a six axes robot arm which be controlled on stable, quiet, high speed, high precision. The degree of freedom, or DOF of robot arm is similar to human arm, can operated with some simple motion, such as point to point catch and put object, throw a small ball into a box within 50cm range. In addition, the motor position controller has overcurrent protection which can measures the operating current of motor, and users can set the current threshold to prevent the motor operate with overcurrent. This function can be applied on catching fragile object such as uninstalling a bulb.
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