Abstract
The design and construction of a signal-acquisition and control platform for its use to control a robotic manipulator is proposed in this work. The system consists of an open-loop architecture robotic arm with DC motors and encoders, whose signals are acquired and processed using a standard PC. This platform can be potentially used for research and teaching purposes. The main contribution is its low-cost modular design with widely available components, which permits to scaling it for manipulators with several degrees of freedom. The performance of the designed system is tested by several experiments with different nonlinear controllers.
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