Roman3D: 3 DOF Planar Robotic Manipulator

Overview

This repository contains all the necessary components for constructing and operating a 3-DOF planar direct drive robotic manipulator. The project includes:

• Hardware Overview: The schematic and layout of the data acquisition card.
• Control Unit: A MATLAB project template for implementing and simulating control algorithms.
• Embedded Software: Software running on the data acquisition card.

You can find a series of posts about this project on my personal website.

Figure 1 illustrates the schematic of the experimental setup. The control algorithms, referred to as the Control Unit, are implemented in MATLAB/Simulink. The custom Data Acquisition Device collects encoder signals from the robot and transmits them to the Control Unit. It also converts control signals from the Control Unit into voltages, which are then amplified by the Amplificator before being sent to the 3-DOF Robotic Manipulator. These experiments are conducted in real-time with a sampling rate of up to 10 kHz.

Figure 1: Experimental Setup Schematic

Documentation

For detailed documentation on each component, please refer to the following sections:

• Hardware Overview
• Control Unit Implementation
• Embedded Software