Industrial Robotics Lab
The PRISMA Lab was established in 1994, thanks to the financial support of the University of Naples for the site and of the National Research Council (CNR) and the Ministry of Education University and Research (MIUR) for the equipment. The laboratory was conceived to provide experimental support to the of the curriculum in control systems engineering as well as a set of testbeds for "Laurea'' and Research Doctorate thesis projects. Major set-ups include a cooperative robot manipulator system, a direct-drive planar arm and PLC-based process control.
The cooperative robot manipulator system set-up is the main project in the lab, and is constituted by two Comau Smart Six industrial robots. The set-up allows performing experiments of single robot control as well as of coordinated control of the dual-robot system. Each robot manipulator has a serial kinematic structure with six revolute joints. The axes of the outer three joints intersect in a spherical wrist. The manipulator on the right is mounted on a sliding track which provides redundancy with respect to six-degree-of-freedom end-effector tasks. Joint axes are actuated by brushless motors via gear trains, and the motors are equipped with absolute resolvers. Time synchronization is implemented by interrupt signals from the C4G to the PC with data exchange every 1/2 ms.