FPGA-Based Control System for 6-UPS Medical Parallel Robot

Author

Wu, Dongmei ; Du, Zhijiang ; Tian, Heqiang ; Jiang, Zhenyu ; Sun, Lining

Author_Institution

State Key Lab. of Robot. & Syst., Harbin Inst. of Technol., Harbin, China

Volume

1

fYear

2010

fDate

18-20 Dec. 2010

Firstpage

744

Lastpage

748

Abstract

In this paper, a high-performance control system based on field programmable gate arrays (FPGAs) for a 6-UPS medical parallel robot is present. The control system utilizes the hardware and software reconfigurable feature of the advanced FPGA device to achieve our goal. Firstly, the parallel robot and its control system components and functions are introduced. Secondly, the control system general description including its hardware is given. Thirdly, NIOS II soft core processor module, HALL module, PWM signal module, DC motor drive module, encoder signal processing module, and the soft-core software are designed in detail. All the modules can be duplicated and reconfigured to control as many motors as needed. Finally, to estimate the control system, a driving test based on RS232 is carried out. Satisfactory test results demonstrate that the FPGA-based control system is a flexible, high-performance solution to the motion control of our 6-UPS medical parallel robot.

Keywords

field programmable gate arrays; medical robotics; 6-UPS medical parallel robot; DC motor drive module; FPGA-based control system; HALL module; NIOS II soft core processor module; PWM signal module; RS232; encoder signal processing module; field programmable gate arrays; soft-core software; 6-UPS medical parallel robot; FPGA; RS232; module;

fLanguage

English

Publisher

ieee

Conference_Titel

Digital Manufacturing and Automation (ICDMA), 2010 International Conference on

Conference_Location

ChangSha

Print_ISBN

978-0-7695-4286-7

Type

conf

DOI

10.1109/ICDMA.2010.127

Filename

5701268