Development of arm based embedded system and implementation of fuzzy logic servo controllers for robot applications

Abstract

Motor control for accurate positioning is a very important function in many scientific applications like robotics, space shuttles, vision and motion control, etc. In modern industrial control and automation, the robots play a vital role. The motors play a very important role in the functionality of robots in such amenities as a rotating base, pivoting shoulder, pivoting elbow, rotating wrist and gripper fingers. The measurement of rotor shaft angle of a motor is one of the important requirements in the modern control system, instrumentation and computing technologies. In many control applications, the position of a motor is ill defined and for many complex systems the construction of mathematical model is difficult or sometimes impossible due to non-linear and time varying nature of the parameters. Thus, the precise and accurate measurement, and control of angular position of the motor has been a challenging task for the all the researchers in robotic field. newlineAlthough a number of publications are available for motor control in robot applications, very little attention is paid towards the development of a low cost, high accuracy digital angular position detector, called as Resolver to Digital Converter (RDC). In view of the elaborate literature survey on applications of RDC in the field of control instrumentation, most of the research reported on the application of RDC techniques for robot applications is based on simulation. Further, the design and real time implementation of these RDC techniques for robots is very rare. Even if so, it is not found in any research paper or report that the design of complete hardware (16-bit analog interface card and necessary signal conditioning and control circuitry) and development of software to realize RDC techniques (using embedded C ) for measurement and control of motor position in a robot. Further, very little amount of newlinework is being done on the national level in integrating the RDC techniques with the ARM processor based embedded systems which is the state of the art. newlineIn