Distributed controller architecture for advanced robot control

The study presents a microcontroller based distributed system for robot control. Each controller calculates control signal for one robot joint. The controllers in the distributed system communicate to each other through SPI bus on which the information (joint positions and velocities) is interchanged. After the communication phase, the controllers can perform the parallel calculation of the control signals for the joint sof the robot. The proposed control system has low development and production cost and it can be applied for the implementation of advanced control algorithms. Experimental measurements are presented to demonstrate the efficiency of the introduced controller architecture.