Update: 29 September, 2023
This document describes how to implement a PID control with the ST10F276 16-bit microcontroller for the control of a multiaxial planar robot. It provides guidelines for the complete development of a control system, able to fulfill all the requirements needed to drive an industrial manipulator. The document starts with an introduction to the robotic manipulators, focusing on their working space, forward kinematics, and the problem of inverse kinematics. It then briefly describes the ST10F276 16-bit microcontroller and its peripherals, as well as the control board, named Starter Development Kit - ST10F276, and its three dedicated connectors for motion control. The document also provides an overview of the hardware and mechanical equipment of a wafer handler, including the encoder conditioning and motor driver circuits. The implementation of PID control, inverse kinematics, trajectory planning, teach and repeat technique, and homing procedure are also explained.
File format: PDF
Size: -
MD5 Checksum: 817104A97FD158AC8377E683EF5A0DE9
Publication date: 07 August, 2012
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PDF Link: ST AN2350 Application Note PDF