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

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5 Author(s)
Hack, R.D. ; Indiana Univ., Fort Wayne, IN, USA ; Haberly, J. ; Odisho, W. ; I-Hai Lin, P.
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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

Published in:

Industry Applications Society Annual Meeting, 1994., Conference Record of the 1994 IEEE

Date of Conference:

2-6 Oct 1994