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.
This document describes how to implement PID control using the ST10F276 16-bit microcontroller to drive a multiaxial planar robot, specifically an industrial wafer handler. It covers the complete development of a control system, including robot kinematics and mechanical structure.
The guide details the architecture of the ST10F276 microcontroller and the Starter Development Kit (SDK-ST10F276) control board. It further explains the hardware and mechanical equipment of the wafer handler, including encoder conditioning and motor driver circuits, before describing the control algorithms for motion planning, PID control, homing, and teach-and-repeat procedures.
| Microcontroller Type | ST10F276 16-bit microcontroller |
|---|---|
| Control Board Name | Starter Development Kit - ST10F276 |
| Robot Type | multiaxial planar robot |
| Case Study Device | industrial wafer handler |
The ST10F276 16-bit microcontroller is used to implement the PID control.
The control board is named Starter Development Kit - ST10F276.
An industrial wafer handler is used as the case study for the multiaxial planar manipulator family.