Building a 5-Axis Robot Arm for My Graduation Project in 2000

For my graduation project in 2000, I developed a system to control a 5-axis robot arm using C++ and a German cross compiler. The project involved overcoming several hardware and software challenges, with a primary focus on using minimal resources to achieve precise control.

Project Overview:

I utilized an old motherboard that operated with a floppy disk, leveraging the XDB debugging mode from the CADUL cross compiler tools. These tools allowed us to download our C++ code to the motherboard using a serial cable. Instead of relying on a traditional RC servo controller, I developed software to generate a pulse train from the parallel port, enabling precise control of the robot arm’s movements.

Servo Motor Control Basics:

Servo motors are critical components in robotics. They convert electrical signals into mechanical motion, either rotational or linear, and can hold a position with stability. By sending a pulse-width modulated (PWM) signal, the servo moves to a specific angle, allowing for precise control, which was essential in our 5-axis robot arm design.

Challenges Faced During the Project:

1. Funding Constraints: Securing sufficient funding was one of the most significant challenges during the project.
2. Import Difficulties: The importing process in my country was complex, making it hard to source components.
3. Lack of a Servo Controller: I had to design and implement custom software to replace a traditional servo controller.
4. Limited Access to Components: We lacked even basic components like wheels for the robot, which required creative problem-solving.

The Impact of the Project:

Although the project had its hurdles, it was a rewarding experience that provided deep insights into low-level programming, robotics, and problem-solving. Interestingly, CADUL AG, the company behind the cross compiler we used, was acquired by Intel just a year after we completed the project.