A Low Cost Open-Controller for Interactive Robotic System

Abstract

This paper presents the design and development of a new low cost device that allows real-time control application of a robotic system using novel methodologies of component based design: processor in the loop tuning and low/high level control. The particular design of this electronic board allows to control up to three permanent magnet (PM) DC motors per board that can be attached to magnetic or optical encoders. A triple USB connection can be used to program, debug and control simultaneously the different features of the board. Moreover, the generation of a new Simulink library allows debug for process analysis using Mat lab/Simulink external mode as well as traditional code analysis protocol within the developer tool chain. The controller board has been developed for academic activities, but has also proven to be valid and robust in prototype application without requiring knowledge of device internals. The paper describes the design and hardware system, the development tool chain and evaluation test is presented and discussed.