Hardware Implementation of a Closed Loop Controller on 6R Robot using ARM Microcontroller

ABSTRACT: In this article, the hardware implementation of a closed loop controller on 6R robot via ARM microcontroller is presented. The implementation is derived in two levels. Firstly, programming with IAR software is expressed, embedded C base language programming. The programming consists of several parts such as running the microcontroller, defining the characteristics of the motors of the manipulator and its limitations, feedback section and the main control loops. The control loops are provided in two categories, point to point motion and trajectory tracking. Secondly, hardware implementation of the ARM microcontroller, a Cortex M3 processor, on a digital board is provided. The high speed computation ability of this processor, LPC 1768, prepares the situation for applying different control algorithms. The PID control as the first candidate is used for simulating and experimenting point to point and continuous motions via 6R robot. This hardware and software developments demonstrate that the quality of the tracking and regulation of 6R are improved.