DocumentCode :
2195861
Title :
FPGA-Implementation of Inverse Kinematics and Servo Controller for Robot Manipulator
Author :
Kung, Ying-Shieh ; Tseng, Kuan-Hsuan ; Chen, Chia-Sheng ; Sze, Hau-Zen ; Wang, An-Peng
Author_Institution :
Dept. of Electr. Eng., Southern Taiwan Univ. of Technol., Tainan
fYear :
2006
fDate :
17-20 Dec. 2006
Firstpage :
1163
Lastpage :
1168
Abstract :
The implementation of inverse kinematics and servo controller for robot manipulator using FPGA (field programmer gate array) is investigated in this paper. Firstly, the mathematical model and the servo controller of robot manipulator are described. Secondly, the inverse kinematics is formulated. Thirdly, the circuit design to implement the function of inverse kinematics and servo controller based on FPGA is introduced. To reduce the usage of the logic elements (LEs) in FPGA, a finite state machine (FSM) method by overall 42 steps to implement the computation of inverse kinematics is applied. Finally, to evaluate the performance of the proposed design circuits, an experimental system consisted by the proposed FPGA-based motion controller and a Mitsubishi RV-M1 micro robot are set up and some experimental results are demonstrated the correctness and effectiveness.
Keywords :
field programmable gate arrays; finite state machines; integrated circuit design; logic design; manipulator kinematics; microrobots; motion control; servomechanisms; Mitsubishi RV-M1 microrobot; circuit design; field programmer gate array; finite state machine; inverse kinematics; logic element; mathematical model; motion control; robot manipulator; servo control; Automata; Circuit synthesis; Field programmable gate arrays; Kinematics; Manipulators; Mathematical model; Programmable logic arrays; Programming profession; Robot control; Servomechanisms; FPGA; Finite state machine; Inverse kinematics; Robot manipulator;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Robotics and Biomimetics, 2006. ROBIO '06. IEEE International Conference on
Conference_Location :
Kunming
Print_ISBN :
1-4244-0570-X
Electronic_ISBN :
1-4244-0571-8
Type :
conf
DOI :
10.1109/ROBIO.2006.340093
Filename :
4142030
Link To Document :
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