AN2350 Datasheet, PDF (1/41 Pages) STMicroelectronics – Guidelines for the control of a multiaxial planar robot with ST10F276

AN2350
Application note
Guidelines for the control of a multiaxial planar robot
with ST10F276
Introduction
This application note describes how to implement a PID control with the ST10F276 16-bit
microcontroller for the control of a multiaxial planar robot.
The document provides guidelines for the complete development of a control system, able
to fulfill all the requirements needed to drive an industrial manipulator.
The first chapter is an introduction to the robotic manipulators. It focuses on their working
space, forward kinematics and the problem of the inverse kinematics. In particular it
describes the main characteristics of an industrial wafer handler used as a case study for a
multiaxial planar manipulator family.
The second chapter is a brief description of the ST10F276 16-bit microcontroller with a
focus on its architecture and its peripherals. Moreover, an overview is given of the control
board, named Starter Development Kit - ST10F276 and its three dedicated connectors for
motion control.
The third chapter provides an overview of the hardware and mechanical equipment of a
wafer handler. More specifically, it describes the encoder conditioning and motor driver
circuits.
The fourth chapter is dedicated to the description of the basic routines for implementing PID
control. The inverse kinematics of the wafer handler and the planning of the trajectory are
also explained. The implementation of the teach and repeat technique and the homing
procedure are shown.
See associated datasheets and technical literature for details of the components related to
the devices and board used in this application note:
http://www.st.com/stonline/books/ascii/docs/9944.htm (L6205 Product Page)
November 2006
Rev 1
1/41
www.st.com