Advanced hardware control for seven DOFs robotic arm-neuro arm

10th International Symposium Machine and Industrial Design in Mechanical Engineering

工业技术;机械制造

Cvetkovi, B.^1 ; Nei, V.^2 ; Lazarevi, M.^1 ; Mandi, P.^1 ; Mari, P.^2 ; Dragovi, M.^3

University of Belgrade, Faculty of Mechanical Engineering, Kraljice Marije 16, Belgrade

11000, Serbia^1

IMP-Automation and Control, Institute of Mihajlo Pupin, Volgina 15, Belgrade, Serbia^2

Uno-lux Processing, Porunika Spasia i Maere 14, Belgrade

11147, Serbia^3

关键词: Control response;    Debian distribution;    Hardware control;    Hardware platform;    LINUX- operating system;    Optical quadrature;    Research platforms;    Resistive sensor;   

Others  :  https://iopscience.iop.org/article/10.1088/1757-899X/393/1/012110/pdf
DOI  :  10.1088/1757-899X/393/1/012110

学科分类：工业工程学

来源: IOP

【 摘 要 】

In this paper we will implement new hardware control for 7 DOFs (Degrees of freedom) advanced robotic arm research platform (NeuroArm) equipped with various sensors. New hardware platform consists of Nano Pi platform which is used as a PC platform for standard PLC (programmable logic controller's) unit and will replace old system that consists of 7 16-bit ATmega processors. The goal of new PLC which is based on Linux operating system (Debian distribution) that is patched by Xenomai real time system for reducing control response time and better entire system control. Robotic arm is powered by 7 DC motors which are controlled by two PWM4 (Pulse Width Modulation) modules. Position data is acquired from 1kΩ resistive sensors using RI8 (Resistive module) module and from optical quadrature encoders using one DI16 (Digital Input) module. Also other modules PWM4, RI8 and DI16 communicate with PikoAtlas CPU module by I2C bus.