Manufacturing and controlling 5-axis ball screw driven industrial robot moving through G codes

These days, in industrial robot applications, servo motors with reducer have been used to move manipulators. Due the weight of parts, it causes undesirable conditions such as backward movement, downward movement and vibration caused by moments inertia at time movement. In this study, step motor ball screw driven actuators, which use push-pull force instead reducers, were utilized provide rotational arms. The system reduces effect movements joints, restricts free joints. It also provides an advantage reducing costs since uses smaller motors. articulated robots, complexity kinematic equations high-order polynomials for trajectory planning cause difficulties controlling. information points, where went during manual was obtained using macros prepared program interface without equations. position lines taken these points printed a text file adding code G01 f feed-rate. made running control. This method allows operator advanced kinematics knowledge.