35.5


z1, Y2


 z2

 20.3 cm

Figure 4.4. The inner link.


intersection point. The motion of the sliding tube was mechanically limited by end caps which

were mounted on either end of the tube. One end cap was welded to the forward or distal end of

the tube and used for mounting the end-effector. The other end cap was bolted to the rear or

proximal end of the tube. These end caps and mechanical stops bolted to the inner link limited

the linear motion of the tube, the joint variable d3, to approximately 1.31 meters.


 Control Computer

 In this section, the hardware and software used for controlling the robot is introduced.

Components of the computer hardware are presented in systems as they relate to controlling the

robot. A very brief description of the elaborate software environment is also presented here.

Hardware

 The control computer for the orange-picking robot was a VME-bussed system with a

Mizar 7120 CPU card. The Mizar card utilized a 12.5 MHZ Motorola MC68020 processor and 1