A multi-axis stepper motor controller built for robotic arms. It uses microstepping, closed-loop feedback, and real-time trajectory planning to keep motion accurate.
TMC2209 stepper drivers with StealthChop and SpreadCycle for quiet, high-torque operation
STM32F4 MCU running real-time motion planning with interrupt-driven step generation
Optical encoders and limit switches for closed-loop position verification and homing
A G-code interpreter with a custom trajectory planner and a web-based jog control interface
256 microstep resolution reaches 0.01mm positional accuracy, with anti-backlash compensation on every axis.
Coordinated 6-axis interpolation with S-curve acceleration profiles keeps robotic movements smooth and free of jerks.
Look-ahead trajectory planner processing up to 1000 motion segments per second with velocity smoothing.
StealthChop drive mode cuts motor noise to almost nothing and still holds full torque at low speeds.
Optical encoder feedback detects missed steps and automatically corrects position drift without stopping operation.
Hardware limit switches, software boundaries, emergency stop, and thermal protection for safe unattended operation.
Joint range-of-motion specification, torque calculations, and motor selection for each axis of the robotic arm.
Custom carrier board for TMC2209 drivers with current sensing, thermal management, and EMI shielding.
STM32 firmware with real-time step generation, G-code parsing, and closed-loop PID position control.
Forward and inverse kinematics solver for Cartesian-to-joint-space conversion with collision detection.
Full system validation with repeatability testing, load characterization, and long-duration endurance runs.
From CNC machines to robotic arms, our team designs custom motor control systems that stay accurate and reliable under load.