Abstract
This paper is concerned with the control of a prismatic joint using a high performance industrial microcontroller, designed and bilt for low cost applications. A modular system with its intrinsic advantages was implemented consisting of a main, an analog I/O, a pulse-width modulator and a power drive boards. The robot prismatic joint is driven by a DC servomotor coupled to a shaft encoder, which provides directly data for calculating position, velocity and acceleration. The software controls all the key parameters such as feedback gain, response rate and motor safe area operating limits. A distributed architecture is proposed with a master 16 bit processor transformation of coordinates and to give directions to each individual axis.
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