Servo motor controller design for robotic manipulator

摘要

A servo motor controller design for robotic manipulator is proposed in this paper. This servo motor controller is used to control a manipulator, which has servo motors EX-106, to accomplish the movement of gripping some goods. This servo motor controller consists of three modules: (1) SOPC System Module, (2) Command Transform Module, and (3) Motor Control Module. This servo motor controller architecture process described as follow: First, SOPC System Module received the movement control command from the personal computer, and processed the feedback command from servo motor simultaneously. Second, let the arm movement control command transformed into the servo motor control command packet, and via the external transform protection circuit to transform the signals from RS-232 serial transmission interface into RS-485 serial transmission interface. Finally, the above steps can let manipulator to drive several servo motors to accomplish the movement of gripping some goods. The results of this experiment show that the proposed servo motor controller, which is implemented on the SOPC, is not only can deliver the control command correctly, but also can control the actions of two manipulators completely.