Universal Controller Module
For sensorimotor control the Universal Controller Module (UCoM) was developed, which is integrated seamlessly in our computer and software architecture. Different drivers for controlling e.g. brushed motors, brushless motors or valves can be connected to the modules as piggyback boards to control different types of actuators. With the 3way-brushdriver board each UCoM is able to control three brushed DC motors at 24V with up to 5A and can decode six quadrature coded encoder signals. The UCoM is equipped with a DSP and a FPGA, which processes data and equips the DSP with a large number of general purpose IOs. Special attention in design was given to a small size and low power consumption. Communication is done by CAN-Bus and various programs can be uploaded to configure each module to the needs of the specific actuators the module is assigned to.