Software Design for the Serial Link Manipulator System

In this paper, the relevance of the topic of manipulators in the 21st century is analyzed. The general division into tasks of the process of creating a robotic arm is described. The tasks of developing hardware for manipulators are briefly described. The main points of software development for manipulators are listed. Also, in the work, a separate chapter is focused on controllers in serial link manipulators. The significance they play in the manipulator arrangement is described. The analysis of tasks for which the manipulator controllers are responsible, namely: interaction of the manipulator controller and the computer, control of drives, calculation of the trajectory of the kinematic chain, support of hardware devices, support of the stability of the system. In addition, an overview of the STM32 Discovery series board was made. The basic methods of programming and debugging the corresponding board are briefly described. The programming languages commonly used in relation to microcontrollers are considered separately. Emphasis is placed on the C language, its popularity and wide distribution. At the end of the work, the task of kinematics of the links of the sequential manipulator is posed.