Research the relationship between microcontroller communication speed and encoder value in robot control

Abstract

This article investigates the dependence of communication speed and processing speed of some types of microcontrollers on encoder reading speed applied in robot control and related applications. To compare microcontrollers and communication speeds, the experiments in the article use some common microcontroller modules such as Arduino UNO, Arduino Mega2560, and STM32F4 Discovery. The encoder chosen is the SUMTAK IRH320 with a resolution of 1000 pulses/rev. Experimental results show that the STM32F4 Discovery module is most suitable for robot control applications with high accuracy and speed.