Title :
Using open-source platform for trajectory control of DC motors
Author :
Aguilar-Acevedo, Francisco ; Granados Alejo, Vignaud
Author_Institution :
Dept. of Eng. Robotic, Univ. Politec. de Guanajuato, Cortazar, Mexico
Abstract :
This paper shows how the open-source platform Arduino UNO can be used for trajectory control of DC gearmotors with encoder. The system allowed the angular position control of two motors through an electronic system and software written to firmware running on the Arduino UNO and host computer. The microcontroller´s board computes cubic polynomial trajectories to connect an initial to a final angular position, using a PID law programmed. The associated validating tests are discussed. At the end, the use of the system for controlling a robot of two-degree-of-freedom (2-dof) is presented.
Keywords :
DC motor drives; angular velocity control; machine control; microcontrollers; polynomials; robots; three-term control; trajectory control; 2-dof robot; Arduino UNO; DC gearmotors; PID law; angular position control; cubic polynomial trajectories; electronic system; encoder; host computer; microcontroller; open-source platform; trajectory control; two-degree-of-freedom robot; Computers; DC motors; Open source software; Polynomials; Robots; Trajectory; Arduino UNO; Open-source platform; cubic polynomial trajectory; discrete-time PID controller; trajectory control;
Conference_Titel :
Power, Electronics and Computing (ROPEC), 2013 IEEE International Autumn Meeting on
Conference_Location :
Mexico City
DOI :
10.1109/ROPEC.2013.6702760
