Electronic control unit design for robotic systems

Robotic systems can be defined as mechanisms that can recognize the environment through environmental sensing units such as sensors and perform the tasks given by motion under their own control. Today, robotic systems can be used as a rootstock or auxiliary intermediate system in order to automate works in many areas. These usage areas are defense systems, logistics, medical procedures, etc. They appear in different places with different examples. It is known that robotic systems with a wide range of uses need a control unit that can process incoming data in order to fulfill the given tasks. The control unit can be called an electronic and software system that provides the ability to make sense of the variables of the environment in which a robotic system is located and to show the required movement reaction. The subject of this thesis is to design a general-purpose control hardware capable of controlling robotic systems. To summarize the studies briefly, first of all, the features of the control hardware were determined on the basis of the requirements, and schematic and PCB designs were carried out in the open source software KiCAD circuit design program. After the hardware design and production stages were completed, the general controller design was made in the STMicroelectronics brand MCU used in the control unit center and the free STM32CubeIDE compiler provided by the company. After the hardware and embedded software were completed, it was included in the control panel of an autonomous mobile robot (AMR) and operated in coordination with the main computer in order to control the mechanism it is in and to perform performance tests. Since the robot does not have a mathematical system expression, the system definition process has been made. Based on the input and output data received from the robot, the transfer function was created using MATLAB (Student Edition) system definition and simulation tools, and performance analysis of the control unit was carried out by trying different types of closed control methods over it. As a result, in this thesis, a REKU (Robotic Electronic Control Unit) hardware aimed to be used in robotic systems was designed and comprehensively analyzed.