Title :
Embedded Control System for a 5-DOF Manipulator by Means of SPI Bus
Author :
Flores-Abad, Angel ; Arpídez, Adrian
Author_Institution :
Inst. de Ing. y Tecnol., Univ. Autonoma de Ciudad Juarez, Juarez, Mexico
Abstract :
This paper presents SPI based embedded control system for a 5-DOF industrial robot manipulator. A set of microcontrollers is used to perform the control task; each one computes its own control signal to achieve joint movements. The embedded system has an 8-bit microcontroller master-slave scheme, with one master driving 5 slaves, in order to exchange control information by means of SPI network. Functionality tests are carried out by implementing a digital PID control algorithm on a Scorbot robot and results are presented. The developed embedded system provides a low cost, flexible and high effective solution for implementation of control algorithms.
Keywords :
embedded systems; industrial manipulators; microcontrollers; mobile robots; peripheral interfaces; 8-bit microcontroller master-slave scheme; SPI bus; embedded control system; industrial robot manipulator; joint movement; serial peripheral interface; Control systems; Electrical equipment industry; Embedded system; Industrial control; Manipulators; Master-slave; Microcontrollers; Service robots; Testing; Three-term control; Embedded System; PID Control; Robot Manipulator; SPI Network;
Conference_Titel :
Electronics, Robotics and Automotive Mechanics Conference, 2009. CERMA '09.
Conference_Location :
Cuernavaca, Morelos
Print_ISBN :
978-0-7695-3799-3
DOI :
10.1109/CERMA.2009.62
