Embedded Controller Design for Multi-DOF Robotic Systems
As part of my master’s dissertation, I designed and implemented a control system for a four-degree-of-freedom parallel robot. The system was developed using BeagleBone Black and Arduino Mega housed in a modified PC case, with embedded controllers, signal conditioning, and real-time data acquisition. The goal was to create a robust platform for controlling and synchronizing multiple actuators while maintaining precision across nonlinear motion paths.
This work combined control algorithm design, hardware development, and system integration, bridging theoretical robotics research with practical implementation.
Developing a functional four-DOF controller required addressing several key challenges:
Algorithm Complexity: Designing stable control laws for a nonlinear, coupled parallel manipulator demanded careful mathematical modeling and simulation.
Hardware Integration: Building a custom electronic board that could reliably handle multiple sensor and actuator interfaces, while fitting into a compact form factor.
Real-Time Constraints: Achieving millisecond-level responsiveness to ensure smooth and accurate robot motion.
Noise and Stability: Managing electrical noise, ensuring stable power distribution, and preventing signal interference inside a confined case.
The project successfully demonstrated the operation of a real-time control platform for a parallel robot, capable of executing coordinated movements with high accuracy.
Key outcomes included:
A fully integrated hardware–software control system housed in a single enclosure.
Verified performance of the robot across its four degrees of freedom.
Experimental validation of trajectory tracking and control stability.
A foundation for further research into advanced nonlinear control methods for parallel robots.
This work not only met the dissertation goals but also provided a reliable testbed for future robotic research and industrial applications.
