A VHDL application for kinematic equation solutions of multi-degree-of-freedom systems
Küçük Resim Yok
Tarih
2014
Yazarlar
Dergi Başlığı
Dergi ISSN
Cilt Başlığı
Yayıncı
Zhejiang Univ
Erişim Hakkı
info:eu-repo/semantics/closedAccess
Özet
As kinematic calculations are complicated, it takes a long time and is difficult to get the desired accurate result with a single processor in real-time motion control of multi-degree-of-freedom (MDOF) systems. Another calculation unit is needed, especially with the increase in the degree of freedom. The main central processing unit (CPU) has additional loads because of numerous motion elements which move independently from each other and their closed-loop controls. The system designed is also complicated because there are many parts and cabling. This paper presents the design and implementation of a hardware that will provide solutions to these problems. It is realized using the Very High Speed Integrated Circuit Hardware Description Language (VHDL) and field-programmable gate array (FPGA). This hardware is designed for a six-legged robot and has been working with servo motors controlled via the serial port. The hardware on FPGA calculates the required joint angles for the feet positions received from the serial port and sends the calculated angels to the servo motors via the serial port. This hardware has a co-processor for the calculation of kinematic equations and can be used together with the equipment that would reduce the electromechanical mess. It is intended to be used as a tool which will accelerate the transition from design to application for robots.
Açıklama
Anahtar Kelimeler
Multi-degree-of-freedom systems, Kinematics, Co-processor, Serial communication, Six-legged robot
Kaynak
Journal of Zhejiang University-Science C-Computers & Electronics
WoS Q Değeri
Q4
Scopus Q Değeri
N/A
Cilt
15
Sayı
12
