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This research focuses on the stepping motor drive system design based on an embedded system constructed by Field Programmable Gate Array (FPGA). It is known that the flexibility and programmable abilities have made the FPGA be widely used as controllers to the electrical machines and systems. Above all, the high density of recent developed chip results in many of the CPU cores can be embedded into...
The objective of this paper is to develop a six D.O.F robot arm for an intelligent robot. As for the shoulder part, the harmonic drive, which has some advantages (such as zero backlash, small volume, and high reduction ratio), was used to ensure the weight of the whole arm could be supported. The kinematic equations of the robot arm have been verified in this paper. As for the links of a robot arm,...
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