An embedded approach for motor control boards design in mobile robotics applications

摘要

Abstract: In this paper the conception, the project, the realization and the test of a multi purpose board for motor control in robotics applications are presented. The main features of such a board are: the possibility of controlling CC motors as well as servomotors, using measures both from continuous (like potentiometers) and from digital (like encoders) sensors; the possibility of changing the control law, being contained in a microcontroller, by simply changing the C code of the programming; the possibility of serial communication, also via radio link, for control parameters changes and for data exchange with other boards or with a central unit.