RESEARCH AND DEVELOPMENT OF HITDM-I GRINDING ROBOT

This paper describes a grinding robot HITDM-Ⅰ,which adopts teach-playback operating mode and is con-trolled using microcomputer.The teaching movement of the robot is measured by two incremental optical en-coders and the data measured are stored.The two axes of the robot are driven by two stepping motors respec-tively.This paper describes the principal and hardware of the position control of the stepping motors.In ad-dition,this paper describes the principal and implementation of the robot repeating speed control.