Title :
Hardware/Software Co-design of Control Algorithms
Author :
Petko, Maciej ; Karpiel, Grzegorz
Author_Institution :
Dept. of Robotics & Mechatronics, AGH Univ. of Sci. & Technol., Kracow
Abstract :
The paper presents problems related to implementation of control algorithms in FPGA. Proposed solution is based on system-on-programmable-chip architecture with soft-processor that allows for mixed, hardware/software implementation and exploration of possible control algorithm realizations. The case study is a neural controller for 3-DOF parallel robot for milling. The controller is based on neural model of the inverse dynamics of the manipulator, trained on data collected with the use of a computed torque stabilizing controller. For comparison, both controllers were implemented in a system of the same architecture
Keywords :
control engineering computing; field programmable gate arrays; hardware-software codesign; manipulator dynamics; milling; neurocontrollers; programmable controllers; stability; system-on-chip; torque control; 3-DOF parallel robot; FPGA; hardware-software co-design; inverse dynamics; manipulator; milling; neural controller; system-on-programmable-chip architecture; torque stabilizing control; Computer architecture; Control systems; Field programmable gate arrays; Hardware; Inverse problems; Manipulator dynamics; Milling; Parallel robots; Software algorithms; Torque control; Hardware/software co-design; System-on-Chip; computer architectures; control implementation; parallel robots;
Conference_Titel :
Mechatronics and Automation, Proceedings of the 2006 IEEE International Conference on
Conference_Location :
Luoyang, Henan
Print_ISBN :
1-4244-0465-7
Electronic_ISBN :
1-4244-0466-5
DOI :
10.1109/ICMA.2006.257627
