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Abstract
In order to set up a cybernetic arm, we have to transform received EMG signals to digits that represent the velocity for each sampling period (0.2 second). These numbers are inputs of a DC motor, in order to give us necessary output of position and velocity. In this paper we are trying to represent a practical method for solving this problem. By using an intermediate circuit, we will be able to make a connection between the computer and the DC motor. The circuit should move the motor in two different directions, supply a necessary current for movement, and at the same time disconnect unnecessary current when there is no motion. Now we have to see how to control the DC motor. To solve the dynamic problem of arm and DC motor, we have ignored all differential terms and will calculate the necessary voltage for the desired position and velocity. From calculated voltage we can obtain the sufficient pulse period for the DC motor. Then we can supply pulses with modulation to the DC motor (PWM). Since we are working with such motors, differential coefficients are small enough to ignore them, and man-machine adaptation has had good results and can further improve performance.