SCARA Robot

This project is my bachelor graduation project, it is to redesign the electrical and control system for a 4-axis SCARA robot. Three axes are DC motors with encoders the forth one is stepper motor. The controller is 8-bit PIC18F4550, the software is based on Salvo Real Time Operating System, the DC Servo controllers are PID with Feedforward for the speed control loop and Proportional controller for the position control loop.