A 3-DOF stepping motor robot controlled by a microcontroller

Attempts are made to make the structure and control system of a robot as simple as possible in terms of control system software by utilizing a mechatronic approach. The robot concerned can be used to produce linear motion in relation to three shafts or circular motion in relation to two shafts. Since the drive is achieved with stepping motors, the positioning of the robot is based on calculation of their steps. All three motors are controlled by one microcontroller, which has been developed specifically for sophisticated machines and devices in particular. The linear interpolation of movements was implemented on a new principle made possible on account of the properties of the controller. The advantage of the method is that it reduces the load on the processor, which leads to greater speeds while maintaining a high standard of accuracy.