Embedded Control System for a 5-DOF Manipulator by Means of SPI Bus

Abstract

This paper presents a SPI based embedded control system for a 5-DOF industrial robot manipulator. A set of microcontrollers is used to perform the control task; each one computes its own control signal to achieve joint movements. The embedded system has an 8-bit microcontroller master-slave scheme, with one master driving 5 slaves, in order to exchange… (More)

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Cite this paper

@article{FloresAbad2009EmbeddedCS, title={Embedded Control System for a 5-DOF Manipulator by Means of SPI Bus}, author={Angel Flores-Abad and Adrian Arpidez}, journal={2009 Electronics, Robotics and Automotive Mechanics Conference (CERMA)}, year={2009}, pages={151-156} }