Modeling and control of a rotary manipulator by Arduino programmable logical micro-controller

Abstract

Calibration of the circular movement of a rotary manipulator, driven by a stepper bipolar motor, using a programmable logic micro-controller Arduino Uno is done. The movement of the manipulator in clockwise and counterclockwise directions is studied. In this research the rotation speed is changed by the time delay between the steps of movement of bipolar stepper motor. Models for the movement speed of the rotary manipulator, depending on the time-delay between the steps of the stepper motor, and the error for different rotational speeds of the manipulator are estimated. The working range of the rotational speeds in clockwise and counterclockwise directions is chosen. Adjustment of the programmable logic micro-controller Arduino Uno is made, according to the requirements for the realization of a certain desired movement pattern.