Title :
Design and implementation of an ASIC-based motor controller for controlling robot manipulators
Author :
Hack, Roger D. ; Haberly, Jim ; Odisho, William ; Lin, Paul I-Hai ; Hwang, Santi
Author_Institution :
Indiana Univ., Fort Wayne, IN, USA
Abstract :
This paper is an examination of a robotic arm controller and software interface. The intended goal of this project was to develop a controller capable of running a Sandu XR-2 series robotic arm. The intent of this report is to document the resulting design. The robotic arm controller (RAC) is an ASIC-based closed loop control system designed to operate DC motors with two bit Gray code feedback. The controller was designed to run from one motor individually up to eight motors simultaneously. It was also to incorporate a user friendly interface
Keywords :
DC motors; Gray codes; application specific integrated circuits; closed loop systems; control system synthesis; digital control; electric control equipment; feedback; machine control; microcomputer applications; position control; power engineering computing; robots; user interfaces; 2 bit; ASIC; DC motors; Gray code feedback; Sandu XR-2 series; closed loop control system; design; implementation; project; robot manipulators; robotic arm controller; software interface; user friendly interface; Application specific integrated circuits; DC motors; Logic arrays; Manipulators; Power supplies; Reflective binary codes; Robot control; Surges; Switches; Wiring;
Conference_Titel :
Industry Applications Society Annual Meeting, 1994., Conference Record of the 1994 IEEE
Conference_Location :
Denver, CO
Print_ISBN :
0-7803-1993-1
DOI :
10.1109/IAS.1994.377674
