Resumo

YIME RODRIGUEZ, Eugenio  e  PAEZ ALMENTERO, Jheifer. Mechatronics design of an arduino Shield for controlling brushed DC motors. Prospect. [online]. 2016, vol.14, n.1, pp.73-79. ISSN 1692-8261.  https://doi.org/10.15665/rp.v14i1.370.

Brushed DC motors are inexpensive motors commonly used in diverse applications where it is required motion control. Robotics stand out among them due to its requirements in servo control of position, speed and current. Although there are several solutions for controlling brushed DC motors on the market, the proposal is specific to the academic field of teaching and research in robotics, where the usual requirements are an inexpensive, and simple to use, card which allows position and current control. The proposed solution is in line with these requirements. The design was based on Arduino for its characteristics of open and inexpensive solution. The developed PID controller are for position and current. Position control allows developing robotic applications based on inverse kinematics, while the current controller allows control practices based on the robot dynamics. In the article the process of design and assembly of the first prototype is covered. It also cover the development of software for both Arduino and MATLAB, which is used to plot and analyze the experimental results of the PID controllers.

Palavras-chave : PID controller; Motion control; Robotics.

        · resumo em Espanhol     · texto em Espanhol     · Espanhol ( pdf )