Using open-source platform for trajectory control of DC motors

This paper shows how the open-source platform Arduino UNO can be used for trajectory control of DC gearmotors with encoder. The system allowed the angular position control of two motors through an electronic system and software written to firmware running on the Arduino UNO and host computer. The microcontroller's board computes cubic polynomial trajectories to connect an initial to a final angular position, using a PID law programmed. The associated validating tests are discussed. At the end, the use of the system for controlling a robot of two-degree-of-freedom (2-dof) is presented.