A Trajectory Planning and Robot Arm Imitation Control System for Remote Signature Application
Chang-Hsi Wu, Jun-Ying Xiao · 2018
In this paper, we propose a trajectory planning and robot arm imitation control system for remote signage. It can be signed on a computer or cell phone through remote monitoring software. The signed trace array data is transmitted to the controller via USB or Bluetooth. The STM32F429 Advanced RISC Machine (ARM) chips from STMicroelectronics are used to perform trajectory coordinates conversion into two arm rotation angles, calculation of the control pulses and feedback control algorithm of pulse signals from the encoder in the controller. The robot arm uses two 1600P/R step motor drivers with 1:100 reducers and 2500P/R encoders. It can achieve 0.00225deg/P rotation control accuracy and 0.00144deg/P rotation sensing accuracy. The arm imitation control system designed in this study can realize precise remote signature control.