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AN2350 Datasheet(PDF) 33 Page - STMicroelectronics

Part # AN2350
Description  Guidelines for the control of a multiaxial planar robot with ST10F276
PDF  41 Pages
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Manufacturer  STMICROELECTRONICS [STMicroelectronics]
Direct Link  http://www.st.com
Logo STMICROELECTRONICS - STMicroelectronics

AN2350 Datasheet(HTML) 33 Page - STMicroelectronics

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Control algorithm
AN2350
33/41
To ensure that the point has been reached, a check on the error has been performed in a
such way that if the total error (as sum of the error of the shoulder and of the elbow) is higher
than a fixed value (MAX_ERR_POS=150 ) no new point is passed. The figures below show
the general schemes for the control algorithm ISR and for the scanning of the trajectory
table.
The variables sh_pulses_desired, elb_pulses_desired, total_error, index, flag_error are
global variables.



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