Development of a Multi-DOF robotic controller for academic purposes

被引：1

作者：

Mota Munoz, Francisco ^{[1
]}

Martinez de la Piedra, Sergio ^{[1
]}

Camarillo Gomez, Karla ^{[2
]}

机构：

[1] Univ Politecn Guanajuato UPGTO, Ingn Robot, Cortazar, Mexico

[2] ITC, Ingn Mecan, Celaya, Mexico

来源：

2014 INTERNATIONAL CONFERENCE ON MECHATRONICS, ELECTRONICS AND AUTOMOTIVE ENGINEERING (ICMEAE) | 2014年

关键词：

Open architecture; Robot control; FPGA control implementation; Academic robot controller; PLATFORM; VISION;

D O I：

10.1109/ICMEAE.2014.35

中图分类号：

TM [电工技术]; TN [电子技术、通信技术];

学科分类号：

0808 ; 0809 ;

摘要：

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

引用

页码：104 / 109

页数：6

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