A Single-Chip Microcomputer Robot-Arm Controller for DC Continuous and
Stepper Motors
by
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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