JTR-1 EDUCATIONAL ROBOT MANIPULATOR

To meet the needs of education and research in robotics,an educational robot manipulator JTR-1has been designed and built.Its characteristics are as follows(1)This is a 5-joint robot manipulator;(2)Each joint is controlled by a closed loop phase—modulated servo system,either analogue or digital;(3)Motion planning and joint's motion commands are realized by IBM—PC microcomputer;(4)High trans-parency and good performance-cost ratio.This paper also describes visual servo control,which has been implemented on this robot manipulator.Now,this robot manipulator is as a product manufactured byScientific Instrument Factory,which belongs to The Chinese Academy of Sciences.We believe,it will be benefial,indeed,to education and research in robotics.