Description
Open COmpliance RObot COntroler is the ARCOS-Lab's project with the goal to endow at the omnidirectional base of the humanoid robot, with the ability to be soft with the environment. To achieve this abitity an impedance motor controller is required.
The sandwich of the project OPEN-COROCO is made of 2 pcb drivers and a microcontroller. The microcontroller STM32F4 process the information from pcb drivers and it's the supply of 3.3v and 5V to the system. The resolver pcb send information about velocity and position from the synchronous motor to microcontroller and generates the excitation's signal to resolver's motor. The Inverter pcb process sensing torque information from strain gauges and it's the motor's power supply of 48 V.

Resolver

Inverter

ToDO
*Re-check text
*Add a sandwich's picture
*functional blocks (both pcb drivers)