 |
Electronic Components Datasheet Search |
|
|
Electronic Components Datasheet Search |
|
AN2350 Datasheet(PDF) 1 Page - STMicroelectronics |
|
|
|||||||||||||||||||||||||||||
AN2350 Datasheet(HTML) 1 Page - STMicroelectronics |
|
|
1 / 41 page  November 2006 Rev 1 1/41 AN2350 Application note Guidelines for the control of a multiaxial planar robot with ST10F276 Introduction This application note describes how to implement a PID control with the ST10F276 16-bit microcontroller for the control of a multiaxial planar robot. The document provides guidelines for the complete development of a control system, able to fulfill all the requirements needed to drive an industrial manipulator. The first chapter is an introduction to the robotic manipulators. It focuses on their working space, forward kinematics and the problem of the inverse kinematics. In particular it describes the main characteristics of an industrial wafer handler used as a case study for a multiaxial planar manipulator family. The second chapter is a brief description of the ST10F276 16-bit microcontroller with a focus on its architecture and its peripherals. Moreover, an overview is given of the control board, named Starter Development Kit - ST10F276 and its three dedicated connectors for motion control. The third chapter provides an overview of the hardware and mechanical equipment of a wafer handler. More specifically, it describes the encoder conditioning and motor driver circuits. The fourth chapter is dedicated to the description of the basic routines for implementing PID control. The inverse kinematics of the wafer handler and the planning of the trajectory are also explained. The implementation of the teach and repeat technique and the homing procedure are shown. See associated datasheets and technical literature for details of the components related to the devices and board used in this application note: http://www.st.com/stonline/books/ascii/docs/9944.htm (L6205 Product Page) www.st.com |
Similar Part No. - AN2350 |
|
Similar Description - AN2350 |
|
|
Link URL |
| Does ALLDATASHEET help your business so far? [ DONATE ] |
About Alldatasheet | Advertisement | Contact us | Privacy Policy | Link to Datasheet | Link Exchange | Manufacturer List All Rights Reserved©Alldatasheet.com |
| Russian : Alldatasheetru.com | Korean : Alldatasheet.co.kr | Spanish : Alldatasheet.es | French : Alldatasheet.fr | Italian : Alldatasheetit.com Portuguese : Alldatasheetpt.com | Polish : Alldatasheet.pl | Vietnamese : Alldatasheet.vn Indian : Alldatasheet.in | Mexican : Alldatasheet.com.mx | British : Alldatasheet.co.uk | New Zealand : Alldatasheet.co.nz |
|
Family Site : ic2ic.com |
icmetro.com |
English ▼
English
Chinese
German
Japanese
Russian
Korean
Spanish
French
Italian
Portuguese
Polish
Vietnamese
Indian
Mexican
British
New Zealand
