https://github.com/sametgul/roman3d

A 3-DOF Robotic Manipulator built from scratch. This project includes a data acquisition card design interfacing between the robot and computer, a 3-DOF planar robotic manipulator design, and a Simulink template for implementing and simulating control algorithms.
https://github.com/sametgul/roman3d

arm-microcontrollers c cad-design circuit-design control-design embedded-systems freecad matlab robotic-arm robotic-manipulator simulink stm32cubeide

Last synced: 16 days ago
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A 3-DOF Robotic Manipulator built from scratch. This project includes a data acquisition card design interfacing between the robot and computer, a 3-DOF planar robotic manipulator design, and a Simulink template for implementing and simulating control algorithms.

• Host: GitHub
• URL: https://github.com/sametgul/roman3d
• Owner: SametGul
• License: mit
• Created: 2023-08-09T10:55:21.000Z (over 1 year ago)
• Default Branch: master
• Last Pushed: 2024-06-11T13:44:43.000Z (6 months ago)
• Last Synced: 2024-06-12T13:43:39.936Z (6 months ago)
• Topics: arm-microcontrollers, c, cad-design, circuit-design, control-design, embedded-systems, freecad, matlab, robotic-arm, robotic-manipulator, simulink, stm32cubeide
• Homepage:
• Size: 2.23 MB
• Stars: 0
• Watchers: 1
• Forks: 0
• Open Issues: 0
• Metadata Files:
  • Readme: README.md
  • License: LICENSE

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README

        
# 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](https://sametgul.github.io/categories/roman3d-a-comprehensive-guide-to-constructing-a-3-dof-planar-robotic-manipulator/).

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.

![Experimental Setup Schematic](figs/setup.png)

_Figure 1: Experimental Setup Schematic_

## Documentation

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

- [Hardware Overview](/docs/hardware.md)

- [Control Unit Implementation](/docs/matlab_template.md)

- [Embedded Software](/docs/embedded_sw.md)