A precision stepper motor controller for robotic applications

Abstract

A precision stepper motor controller capable of both independent and synchronized control of a multiple number of stepper motors is discussed. The controller is built around a 16-bit microprocessor to provide fast and reliable control operations. In addition, microstepping techniques are used to achieve high resolution electronically and to suppress mechanical resonance. The controller also includes six input/output ports. Such a controller has wide applications in manufacturing. For instance, it can be used to control a robot having up to six degrees of freedom. The controller was tested with a simultaneous control (synchronous) of six stepper motors for precision trajectory control applications.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>