08-10-2010, 08:42 PM
ROBOT ARM CONTROLLER USING FPGA
This article describes the design and building a control system with an FPGA chip to control the movements of a robotic arm. Controller System and the drive circuits are the major parts of the circuit. each motor on the robotic arm requires a separate control circuit. the Control System does not supply enough power to drive the motors directly and as a result, such circuits are required. Spartan –II FPGA chip is used to implement the circuit and the VHDL coding is used. much higher speed is obtainable with the FPGA but a slow clock is needed to obtain relatively large delays for the output signals. The basis of the project is motion control using stepper motor. the stepper motor is controlled using FPGA. programming and simulation part of the project was done at the first stage. Then follows the implementation stages like the PCB designing, soldering and troubleshooting of PCB. ULN2803A interfacing with FPGA is done here. Positional control is a major problem addressed by this project.
Robotic control is an exciting and high challenge research field in the recent years. Many digital control systems for robot manipulation and mobile robots are proposed in the
literature. But DSP chip or Microcontroller is used in all of them. higher performance alongwith flexibility at reduced cost and resources. cannot be offered by them. An FPGA chip is the approach used in this project. The robot is basically a jointed arm robot.
Get the full details here:
http://www.filesonicfile/23679077/ROBOT ARM CONTROLLER USING FPGA.pdf
This article describes the design and building a control system with an FPGA chip to control the movements of a robotic arm. Controller System and the drive circuits are the major parts of the circuit. each motor on the robotic arm requires a separate control circuit. the Control System does not supply enough power to drive the motors directly and as a result, such circuits are required. Spartan –II FPGA chip is used to implement the circuit and the VHDL coding is used. much higher speed is obtainable with the FPGA but a slow clock is needed to obtain relatively large delays for the output signals. The basis of the project is motion control using stepper motor. the stepper motor is controlled using FPGA. programming and simulation part of the project was done at the first stage. Then follows the implementation stages like the PCB designing, soldering and troubleshooting of PCB. ULN2803A interfacing with FPGA is done here. Positional control is a major problem addressed by this project.
Robotic control is an exciting and high challenge research field in the recent years. Many digital control systems for robot manipulation and mobile robots are proposed in the
literature. But DSP chip or Microcontroller is used in all of them. higher performance alongwith flexibility at reduced cost and resources. cannot be offered by them. An FPGA chip is the approach used in this project. The robot is basically a jointed arm robot.
Get the full details here:
http://www.filesonicfile/23679077/ROBOT ARM CONTROLLER USING FPGA.pdf