NDLI: Servo motor controller design for robotic manipulator

Content Provider	IEEE Xplore Digital Library
Author	Shih-An Li Chung-Wei Weng Yi-Hong Chen Chia-Hung Lo Min-Hao Yang Yi-Chun Lin Ming-Hua Hsieh Ching-Chang Wong
Copyright Year	2012
Description	Author affiliation: Department of Electrical Engineering, Tamkang University, New Taipei City, 251, Taiwan (Shih-An Li; Chung-Wei Weng; Yi-Hong Chen; Chia-Hung Lo; Min-Hao Yang; Yi-Chun Lin; Ming-Hua Hsieh; Ching-Chang Wong)
Abstract	A servo motor controller design for robotic manipulator is proposed in this paper. This servo motor controller is used to control a manipulator, which has servo motors EX-106, to accomplish the movement of gripping some goods. This servo motor controller consists of three modules: (1) SOPC System Module, (2) Command Transform Module, and (3) Motor Control Module. This servo motor controller architecture process described as follow: First, SOPC System Module received the movement control command from the personal computer, and processed the feedback command from servo motor simultaneously. Second, let the arm movement control command transformed into the servo motor control command packet, and via the external transform protection circuit to transform the signals from RS-232 serial transmission interface into RS-485 serial transmission interface. Finally, the above steps can let manipulator to drive several servo motors to accomplish the movement of gripping some goods. The results of this experiment show that the proposed servo motor controller, which is implemented on the SOPC, is not only can deliver the control command correctly, but also can control the actions of two manipulators completely.
Starting Page	254
Ending Page	257
File Size	396000
Page Count	4
File Format	PDF
ISBN	9781467350839
e-ISBN	9781467350822
e-ISBN	9781467350815
DOI	10.1109/ISPACS.2012.6473490
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2012-11-04
Publisher Place	Taiwan
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Servomotors Manipulators Motor drives Process control Transforms Microcomputers Field programmable gate arrays SOPC servo motor FPGA Nios II
Content Type	Text
Resource Type	Article

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