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In this repository, steppers motors are synchronized to control 6DOF manipulator for assistive robot applications. In addition, MATLAB-Arduino communication is set in order to send the kinematics solution to the robot. Moreover, special functions are implemented such as joints calibration, homing, and end position.

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Walid-khaled/Stepper-Motors-Synchronization-for-Assistive-Robot-Control

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Stepper-Motors-Synchronization-for-Assistive-Robot-Control

In this repository, steppers motors are synchronized to control 6DOF manipulator for assistive robot applications using <MultiStepper.h> and <AccelStepper.h> libraries. In addition, MATLAB-Arduino communication is set in order to send the kinematics solution to the robot. Moreover, special functions are implemented such as joints calibration, homing, and end position.

Here is a brief for the implementation. Full demo is attached here.

The program has the following functions:

  • Robot Joints Coordinated Movement (Stepper motors synchronization)
  • MATLAB Communication
  • Joints Calibration
  • Robot Homing
  • End-Position (CG position)

Stepper motors synchronization


MATLAB Communication


Calibration/ Homing/ End-Position

Full demo is attached here.

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In this repository, steppers motors are synchronized to control 6DOF manipulator for assistive robot applications. In addition, MATLAB-Arduino communication is set in order to send the kinematics solution to the robot. Moreover, special functions are implemented such as joints calibration, homing, and end position.

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