Development of a Multi-DOF Robotic Controller for Academic Purposes

Author

Mota Munoz, Francisco ; Martinez De La Piedra, Sergio ; Camarillo Gomez, Karla

Author_Institution

Ing. Robot., Univ. Politec. de Guanajuato, Cortázar, Mexico

fYear

2014

Firstpage

104

Lastpage

109

Abstract

This article presents the development of a robotic controller for technical training, academic teaching, and research. The controller was designed to interact from 1 to 6 Degrees Of Freedom (DOF) serial robotic arms, actuated by brushed DC servomotors equipped with incremental encoders. Controller architecture is based on four components: a processor, a reconfigurable FPGA, measurement I/O hardware and software. Functionality of the robotic controller has been proved by means of the interaction with an SCARA robot arm. The proposed controller presents the potential to teach technical courses (like Robotics, Control, Electronics and Programming) and to implement and validate advanced control algorithms.

Keywords

DC motors; field programmable gate arrays; robots; servomotors; SCARA robot arm; academic teaching; advanced control algorithms; brushed DC servomotors; controller architecture; incremental encoders; measurement I/O hardware; multi-DOF robotic controller; reconfigurable FPGA; serial robotic arms; technical training; Computer architecture; Field programmable gate arrays; Joints; Libraries; Manipulators; Service robots; Academic robot controller; FPGA control implementation; Open architecture; Robot control;

fLanguage

English

Publisher

ieee

Conference_Titel

Mechatronics, Electronics and Automotive Engineering (ICMEAE), 2014 International Conference on

Type

conf

DOI

10.1109/ICMEAE.2014.35

Filename

7120854