Advanced hardware control for seven DOFs robotic arm-neuro arm

摘要

In this paper we will implement new hardware control for 7 DOFs (Degrees of
\nfreedom) advanced robotic arm research platform (NeuroArm) equipped with various sensors.
\nNew hardware platform consists of Nano Pi platform which is used as a PC platform for
\nstandard PLC (programmable logic controller’s) unit and will replace old system that consists
\nof 7 16-bit ATmega processors. The goal of new PLC which is based on Linux operating
\nsystem (Debian distribution) that is patched by Xenomai real time system for reducing control
\nresponse time and better entire system control. Robotic arm is powered by 7 DC motors which
\nare controlled by two PWM4 (Pulse Width Modulation) modules. Position data is acquired
\nfrom 1kΩ resistive sensors using RI8 (Resistive module) module and from optical quadrature
\nencoders using one DI16 (Digital Input) module. Also other modules PWM4, RI8 and DI16
\ncommunicate with PikoAtlas CPU module by I2C bus.