A precision stepper motor controller for robotic applications

Author

Mital, D.P. ; Chai, Chin Teck ; Myint, Toe

Author_Institution

Sch. of Electr. & Electron. Eng., Nanyang Technol. Inst., Singapore

fYear

1989

fDate

1-5 Oct. 1989

Firstpage

686

Abstract

A precision stepper motor controller capable of both independent and synchronized control of a multiple number of stepper motors is discussed. The controller is built around a 16-bit microprocessor to provide fast and reliable control operations. In addition, microstepping techniques are used to achieve high resolution electronically and to suppress mechanical resonance. The controller also includes six input/output ports. Such a controller has wide applications in manufacturing. For instance, it can be used to control a robot having up to six degrees of freedom. The controller was tested with a simultaneous control (synchronous) of six stepper motors for precision trajectory control applications.<>

Keywords

controllers; digital control; industrial robots; machine control; microcomputer applications; position control; stepping motors; velocity control; degrees of freedom; digital control; independent control; industrial robots; machine control; manufacturing; microprocessor; microstepping; precision stepper motor controller; resolution; synchronized control; trajectory control; Acceleration; Control systems; Motor drives; Open loop systems; Optical feedback; Optical pulse generation; Resonance; Robot control; Rotors; Synchronous motors;

fLanguage

English

Publisher

ieee

Conference_Titel

Industry Applications Society Annual Meeting, 1989., Conference Record of the 1989 IEEE

Conference_Location

San Diego, CA, USA

Type

conf

DOI

10.1109/IAS.1989.96723

Filename

96723