USB převodník pro řízení robotických serv Dynamixel

Abstract

This bachelor’s thesis focuses on the design and implementation of a USB converter for controlling Dynamixel robotic servos. The goal is to create a device based on an NXP MCX family microcontroller that works as an interface between USB and the RS-485 communication bus, while at the same time behaving on the bus as a device controlled by the Dynamixel protocol. The work covers both the software and hardware design of the device, including galvanic isolation of the communication parts to help protect the control computer when operating robotic servos. The FRDM-MCXA156 Development Kit and the MCUXpresso development environment are used in the project. The solution includes the design of electronic circuits, firmware implementation for communication using the Dynamixel protocol, and testing of the designed device, including tests with the developed MCXArduino platform. The result of the thesis is a functional prototype of a USB converter with the function of a device controlled by the Dynamixel protocol, resembling a Dynamixel MX-28 servo, and enabling the control of Dynamixel servos from a computer via the RS-485 bus.