Hybrid neural controller of a stepper motor for a manipulator arm

The development of a hybrid microprocessor-based and FPGA implemented neural control system for motion control is a complex task that requires techniques and methods from several engineering fields. In this paper is presented the design of such a hybrid control system for the control of a stepper motor for a manipulator arm. The application circuit developed is a specific design of a low cost embedded system. Simulation and analysis tests were carried out to verify the design of the prototype circuit board. The preliminary results obtained provide the basis for further future research and refinement of the controller.