A VHDL application for kinematic equation solutions of multi-degree-of-freedom systems

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dc.authoridErkol, Huseyin Oktay/0000-0002-3595-175X
dc.authoridDEMIREL, Huseyin/0000-0003-2983-1425
dc.contributor.authorErkol, Huseyin Oktay
dc.contributor.authorDemirel, Huseyin
dc.date.accessioned2024-09-29T16:06:27Z
dc.date.available2024-09-29T16:06:27Z
dc.date.issued2014
dc.departmentKarabük Üniversitesien_US
dc.description.abstractAs 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.en_US
dc.description.sponsorshipDepartment of Bilimsel Arastirma Progeleri, Karabuk University, Turkey [KBU-BAP-13/1-DR-011]en_US
dc.description.sponsorshipProject (No. KBU-BAP-13/1-DR-011) supported by the Department of Bilimsel Arastirma Progeleri, Karabuk University, Turkeyen_US
dc.identifier.doi10.1631/jzus.C1400120
dc.identifier.endpage1173en_US
dc.identifier.issn1869-1951
dc.identifier.issn1869-196X
dc.identifier.issue12en_US
dc.identifier.scopus2-s2.0-84918841993en_US
dc.identifier.scopusqualityN/Aen_US
dc.identifier.startpage1164en_US
dc.identifier.urihttps://doi.org/10.1631/jzus.C1400120
dc.identifier.urihttps://hdl.handle.net/20.500.14619/6831
dc.identifier.volume15en_US
dc.identifier.wosWOS:000346185600008en_US
dc.identifier.wosqualityQ4en_US
dc.indekslendigikaynakWeb of Scienceen_US
dc.indekslendigikaynakScopusen_US
dc.language.isoenen_US
dc.publisherZhejiang Univen_US
dc.relation.ispartofJournal of Zhejiang University-Science C-Computers & Electronicsen_US
dc.relation.publicationcategoryMakale - Uluslararası Hakemli Dergi - Kurum Öğretim Elemanıen_US
dc.rightsinfo:eu-repo/semantics/closedAccessen_US
dc.subjectMulti-degree-of-freedom systemsen_US
dc.subjectKinematicsen_US
dc.subjectCo-processoren_US
dc.subjectSerial communicationen_US
dc.subjectSix-legged roboten_US
dc.titleA VHDL application for kinematic equation solutions of multi-degree-of-freedom systemsen_US
dc.typeArticleen_US

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