Design model and motion controller for 6-DOF cable driven robot system based on CAN network

The purpose of this thesis is research, design, manufacture a 6 DOFs cable driven manipulator, build and operate a CAN bus network. Calculation of forward kinematics according to Denevit and Hartenberg method. Research and apply Cyclic Coordinate Descent method combined with algebra method to solve inverse kinematics for hyper redundant manipulator. Simulation and evaluation of algorithms on simulation software. The study of redundant manipulator helps increase the flexibility of industrial robots, meeting movements that require dexterity and accuracy. The system is distributed controlled, which increases processing speed, increases scalability, and makes system design and maintenance easy thanks to its simple structure. The CAN bus network increases the ability to transmit control data between microcontrollers and actuators. The model uses AC Servo motor.