Build a complete control system for industrial robots learning all the theory and practical
tips from the perspective of an automation engineer. Explore the details of kinematics
trajectories and motion control and then create your own circuit board to drive the electric
motors and move the robot. After covering the theory readers can put what they've learned in
practice by programming a control firmware for the robot. Each software component is described
in detail from the HMI and the interpreter of motion commands to the servo loop controller at
the core of each servo drive. In particular the author presents the commutation algorithm and
the servo loop controller for brushless synchronous motors which are typically employed in
robotics applications. Readers will also learn how to calibrate the robot commission it to the
end-user and design a digital twin to test and monitor the entire workcell in a safe simulated
environment. Finally the book delves into hardware covering how to select and use electric
motors and encoders how to build servo drives and motion controllers and how to design your
own PCBs. Different electronic components and their application circuits are analyzed showing
the advantages and drawbacks of each. By the end of the book you should be able to design and
build electronic boards and write their core firmware to control any kind of industrial robot
for all sorts of different practical applications. What you'll learn Solve kinematics models of
robots Generate safe paths and optimal motion trajectories Create a digital twin of your robot
to test and monitor its movements Master the electronic commutation and closed-loop control of
brushless motors Design electronics circuit boards for motion applications Who This Book Is For
Robotics engineers (and students) who want to understand the theory behind the control of
robotics arms from the kinematic models of their axes to the electronic commutation of their
motors. Some basic calculus and linear algebra is required for the understanding of the
geometrical framework while some electronics foundations are helpful to grasp the details of
the circuits design.
