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최형식(Hyeung-Sik Choi),손정호(Jung-Ho Son),조성덕(Sung-Dug Jo),Chang-Man Lee 대한기계학회 2005 대한기계학회 춘추학술대회 Vol.2005 No.5
this paper, we have made a new motion control system for a 5 d.o.f autonomous robot arm using one-chip microprocessors. The control system is composed of a main controller and sub-controllers. The main controller is composed of an ARM board to control the motors sequentially, and the sub-controllers is composed of the one-chip microprocessor, PIC16f873 to control the motion of the motors along a specified paths. The controllers are communicated using the UART communication system based on a developed protocol. the developed control system was applied to the 5 D.O.F. robot system, and experimental results of the position and velocity control is presented.