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A Single-Chip Microcomputer Robot-Arm Controller for DC Continuous and Stepper Motors
Tom Huynh & Chong Goh
Advisor: Dr. D. R. Schertz

Industries employ robots to do repetitious and hazardous work based on the ability of the controller unit of the robotic system. The aim was to simulate such a robotic devices using a single-chip microcomputer. A 68705P3 microcomputer was interfaced with a dc continuous motor and two stepper motors. A keypad, connected to the microcomputer, provided the on-off selection and direction of rotation for the three motors. The microcomputer, utilizing 6805 assembly code, was used to generate the triggering signals to the motor drivers. A feedback loop was provided for motor speed and position control. The controller system has been successfully built and tested.
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