Design and implementation of an ASIC-based motor controller for controlling robot manipulators

This paper is an examination of a robotic arm controller and software interface. The intended goal of this project was to develop a controller capable of running a Sandu XR-2 series robotic arm. The intent of this report is to document the resulting design. The robotic arm controller (RAC) is an ASIC-based closed loop control system designed to operate DC motors with two bit Gray code feedback. The controller was designed to run from one motor individually up to eight motors simultaneously. It was also to incorporate a user friendly interface.<
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