In this paper an embedded system for accurate control of torque, speed and position of DC motors which actuate the joints of a robotic leg is presented. The proposed embedded system is not based on dedicated and expensive motor controllers but on a general pourpose embedded board equipped with a 32bit microcontroller. For each motor the embedded system can selectively operate in three different control modes: torque, speed and position, to control concurrently at least three DC motors with different control tasks. Each motor is simply equipped with a rotatory encoder and a low-cost current sensor which provides measures of velocity and current as feedback signals. The experimental results show that the embedded controller is able to regulate the motor variables with interesting timeresponses. Although the embedded controller was designed for the proposed robotic application, it is applicable to other systems where the concurrent control of several DC-motors is required.

Embedded low level control of DC motors for actuating robotic legs / Bonci, Andrea; Longhi, Sauro; Pirani, Massimiliano; Scala, Giuseppe Antonio. - STAMPA. - 1:(2015), pp. 133-138. (Intervento presentato al convegno WISES 2015 - Proceedings of 12th International Conference on Intelligent Solutions on Embedded Systems tenutosi a Ancona (Italy) nel October 29-30 2015).

Embedded low level control of DC motors for actuating robotic legs

BONCI, Andrea;LONGHI, SAURO;PIRANI, MASSIMILIANO;
2015-01-01

Abstract

In this paper an embedded system for accurate control of torque, speed and position of DC motors which actuate the joints of a robotic leg is presented. The proposed embedded system is not based on dedicated and expensive motor controllers but on a general pourpose embedded board equipped with a 32bit microcontroller. For each motor the embedded system can selectively operate in three different control modes: torque, speed and position, to control concurrently at least three DC motors with different control tasks. Each motor is simply equipped with a rotatory encoder and a low-cost current sensor which provides measures of velocity and current as feedback signals. The experimental results show that the embedded controller is able to regulate the motor variables with interesting timeresponses. Although the embedded controller was designed for the proposed robotic application, it is applicable to other systems where the concurrent control of several DC-motors is required.
2015
Proceedings of 12th International Conference on Intelligent Solutions on Embedded Systems
978-88-87548-06-8
978-88-87548-07-5
978-88-87548-08-2
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11566/229823
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