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ROBIO
2006
IEEE

FPGA-Implementation of Inverse Kinematics and Servo Controller for Robot Manipulator

13 years 9 months ago
FPGA-Implementation of Inverse Kinematics and Servo Controller for Robot Manipulator
- 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.
Ying-Shieh Kung, Kuan-Hsuan Tseng, Chia-Sheng Chen
Added 12 Jun 2010
Updated 12 Jun 2010
Type Conference
Year 2006
Where ROBIO
Authors Ying-Shieh Kung, Kuan-Hsuan Tseng, Chia-Sheng Chen, Hau-Zen Sze, An-Peng Wang
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