Stepper Motors

2017 ◽  
pp. 379-388
Author(s):  
Julio Sanchez ◽  
Maria P. Canton
Keyword(s):  
Stepper Motors

Low-cost MSI controller for stepper motors

1991 ◽  
Vol 17 (1) ◽  
pp. 63-66 ◽  
Author(s):  
Faisal Fadul ◽  
K. Weidenboerner
Keyword(s):  
Low Cost ◽  
Stepper Motors

OPTIMISATION OF AVERAGE FORCES IN VR STEPPER MOTORS

1978 ◽  
Vol 2 (3) ◽  
pp. 293-303
Author(s):  
V. V. ATHANI ◽  
S. K. KHURANA
Keyword(s):  
Stepper Motors

scholarly journals Reference trajectory tracking for a multi-DOF robot arm

2015 ◽  
Vol 25 (4) ◽  
pp. 513-527 ◽  
Author(s):  
Róbert Krasňanský ◽  
Peter Valach ◽  
Dávid Soós ◽  
Javad Zarbakhsh
Keyword(s):  
Data Exchange ◽  
Iterative Solution ◽  
Reference Trajectory ◽  
Robot Arm ◽  
Task Space ◽  
Joint Configuration ◽  
Matlab Simulink ◽  
Stepper Motors ◽  
Homogeneous Transformation Matrix ◽  
Kinematic Transformation

Abstract This paper presents the problem of tracking the generated reference trajectory by the simulation model of a multi-DOF robot arm. The kinematic transformation between task space and joint configuration coordinates is nonlinear and configuration dependent. To obtain the solution of the forward kinematics problem, the homogeneous transformation matrix is used. A solution to the inverse kinematics is a vector of joint configuration coordinates calculated using of pseudoinverse Jacobian technique. These coordinates correspond to a set of task space coordinates. The algorithm is presented which uses iterative solution and is simplified by considering stepper motors in robot arm joints. The reference trajectory in Cartesian coordinate system is generated on-line by the signal generator previously developed in MS Excel. Dynamic Data Exchange communication protocol allows sharing data with Matlab-Simulink. These data represent the reference tracking trajectory of the end effector. Matlab-Simulink software is used to calculate the representative joint rotations. The proposed algorithm is demonstrated experimentally on the model of 7-DOF robot arm system.

Mechatronics at Rensselaer: Integration Through Design

1992 ◽  
Author(s):  
Kevin Craig
Keyword(s):  
Design Education ◽  
Mechanical Engineering ◽  
Model Building ◽  
Controller Design ◽  
Computer Control ◽  
Sensors And Actuators ◽  
Final Project ◽  
Mechatronic Design ◽  
Design Engineers ◽  
Stepper Motors

Abstract Mechatronics is the synergistic combination of precision mechanical engineering, electronics, control engineering, and computer science in the design process. This paper describes a new elective course entitled Mechatronics which has been developed and was taught for the first time at Rensselaer during the fall 1991 semester to 45 senior-undergraduate and graduate students. The key areas of mechatronics which are studied in depth in this course are: control sensors and actuators, interfacing sensors and actuators to a microcomputer, discrete controller design, and real-time programming for control using the C programming language. The course is heavily laboratory-based with a two-hour laboratory weekly in addition to three hours of classroom lecture. The laboratory exercises include computer-aided control system design using MATRIXx, various analog and digital sensors, hydraulic actuators, DC and stepper motors, and computer control of a variety of physical systems. The unifying theme for the course is the integration of these key areas into a successful mechatronic design. Students are required, as a final project, to: identify a problem or need, analyze the problem, and write a problem statement; perform a state-of-the-art review; develop a list of specifications and identify the key specifications; generate an outstanding mechatronic-system conceptual design; and finally perform a detailed design of the system which may include model building and hardware development. Examples of student projects are described. This course should significantly enhance our design education program in the Mechanical Engineering Department and lay the foundation for the students to become mechatronic design engineers.

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