Robotic arm
The robotic arm is a crucial subsystem used during surface sampling and maintenance tasks. This subsystem is removable from the main frame and can be operated fully independently of the rest of the rover. Low-level instructions, involving absolute motor position and angles of the linkages, are aggregated and used to compute relative motor motion on the microcontroller. All DC motors use PI control.
Embedded
Lisa's hard work :)
Getting started
This page: structure of this subsystem and where to find what. Make sure you understand the emb...
Example PWM generation
This page: what does the configuration look like for my board, specifically regarding PWM. Make s...
Stepper library
Purpose CubeMX 1) PWM NOTE: If you are new to PWM, first take a look at Example PWM generation,...
Main
All resources
Control
Overview
General structure The general structure of how the control system is made, tested, and deployed w...
Automatic control
Overview In general, the job of the control system is to turn high level instructions from the so...
Manual control
Overview In general, the job of the control system is to turn high level instructions from the so...
Kinematics
Defining terms To do kinematics on the robotic arm, it first needs to be modelled in a way to do ...
Simulation
Simulink Overview The main simulation used for testing the control system of the robotic arm is m...