Snake-like motion controller design with TMS320C6713 DSP processor

Abstract

This paper focuses on the controller design procedure for any serial linked robot which articulates a typical snake like movement in surface level. Programmable smart DSP processor is used for high accuracy signal processing and smooth control of the actuator used in each joint of SLR. Different approaches like, frequency domain approach and graphical approach for controller design are discussed and the same are implemented in TMS320C6713 DSP processor to study the controller characteristics with their transient and impulse response. Results infer the difference between two transfer functions of DC motor controller designed in the above fashion with similar parameters.