Advanced hardware control for seven DOFs robotic arm-neuro arm

• Published in: IOP conference series. Materials Science and Engineering Vol. 393; no. 1; pp. 12110 - 12116
• Main Authors: Cvetković, B, Nešić, V, Lazarević, M, Mandić, P, Marić, P, Dragović, M
• Format: Journal Article
• Language: English
• Published: Bristol IOP Publishing 10.08.2018
• Subjects: Coders; Control systems; D C motors; Data acquisition; Electric motors; Hardware; Modules; Multinational space ventures; Position sensing; Programmable logic controllers; Pulse duration modulation; Quadratures; Response time; Robot arms; Robot control; Robotics; Sensors
• ISSN: 1757-8981; 1757-899X; 1757-899X
• DOI: 10.1088/1757-899X/393/1/012110

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.