FPGA-implementation of passivity-based control for elastic-joint robot

The work present a humanoid robot with flexible joints and study the passivity control to improve the tracking performance. First, we induce the passivity control function and verified it in Simulink, then divide it into linear and non-linear part which execute in FPGA and DSP respectively. The linear part in FPGA is designed with hardware/software co-design method. Vector control is adopted to control the permanent magnet synchronous motor (PMSM) and programmed in Hardware Description Language (HDL) to make sure the motor be a torque generator. Experiments on a robotic manipulator are done and the results demonstrate the effectiveness and correctness of the proposed controller.