Multi-axis robotic arm control using EC 40 brushless DC motor and technosoft motion libraries (TML)

Abstract

The aim of this paper is to present a method to control the Adam robot which is a platform provided by two arms designed to bring out the role of the arms and the trunk during the compensation of external disturbances. This method is based on using the brushless DC motor EC 40 and the IPOS4808 driver; a new member of the iPOS family of Technosoft intelligent drives. The programming of the drives is done with TML (Technosoft Motion Language); a high-level language that can program complex motion profiles for the intelligent drive/motor to execute independently. The required movements and accelerations of the arms parts necessary to maintain the stability of the robot are determined using the inverse dynamic modal. This paper shows also the way to implement a network between the drives to simplify the communication between then and the PC.