40th International Conference on Production Engineering of Serbia
ICPES 2025
Nis, Serbia, 18-19th september 2025
DEVELOPMENT OF A 2-AXIS SCARA ROBOT MOTION CONTROLLER BASED ON MCU
Bogdan Momcilovic, Nikola Slavkovic
DOI: 10.46793/ICPES25.270M
The robot systems are designed and developed in such a way that they can successfully realize the specified task. Robot control systems must enable control of robot movement and all other activities necessary for completing the programmed tasks. One of the most important parts of any robot is its motion, and precise control in real-time. This paper proposes the development of a robot motion controller based on the MIKROE MINI-M4 development board with the STM32F415RG microcontroller. Research related to the field of motion controller development presented in this paper includes the realization of interpolation tasks in joint coordinates (PTP control) and interpolation of linear path segments in world coordinates (CP control). To perform these tasks, a mathematical model of interpolation in joint and world coordinates of a two-axis robot with non-trivial kinematics is introduced. The interpolator model is developed so that the joints' or the end-effector's velocities have a trapezoidal profile. To achieve the required trapezoidal velocity profile, synchronized control sequences are generated as a series of pulses with appropriate frequencies for each axis. As a verification, before implementing the mathematical model into the motion controller, simulations of the mathematical model itself and the robot's motion in the joint and world coordinates are performed in the MATLAB environment. The motion controller is implemented on the aforementioned development board with a microcontroller (MCU) using the MIKROC programming environment. The series of pulses with appropriate frequencies is tested on an oscilloscope as the first verification method of the realized motion controller. Reference points of movement defined in joint or world coordinates are obtained by interpreting the program in the MATLAB environment and transferred via serial communication to the MCU with integrated motion control using the MIKROE EasyPIC V7 development board. Experimental verification of the developed motion controller was performed by laser engraving the programmed trajectory of the robot end-effector according to the desired PTP or CP motion control
Industrial robot, motion controller, non-trivial kinematics, interpolator, MCU
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