Recording the variation of joint angles as a feedback to the control unit is frequent in articulated arms. In this paper, magnetic sensor AS5045, which is a contactless encoder, is employed to measure joint angles of 6R robot and the performance of that is examined. The sensor has a low volume, two digital outputs and provides a high resolution measurement for users; furthermore its zero positi...

Designing of microprocessor based controllers requires specific hardware as well as software programming. Programming depends upon type of the software whether operating software or application software. Programming requires knowledge of system configuration and controller specific programming. Programs are always in digital form so microprocessor can control directly at digital level called Di...