An FPGA based robot controller design and implementation

Erkol, H.O.Demirel, H.2024-09-292024-09-292015https://hdl.handle.net/20.500.14619/977010th International Conference Intelligent Technologies in Logistics and Mechatronics Systems, ITELMS 2015 -- 21 May 2015 through 22 May 2015 -- Panevezys -- 122897In this study, a co-processor for six-legged robot is designed and implemented. Kinematic calculations are complicated and many times we need a separate computation unit when we need high accuracy and precision. Co-processor usage is widespread for decreasing the load on the main computation unit. The co-processor designed in this study is specialized for servo motors controlled via serial port. The co-processor takes and sends the command via serial port. It cancompute the joint angels of an 18 degree of freedom (DOF) six-legged robot in real time. The experimental studies are made by computer and on a robot prototype and taken good results.eninfo:eu-repo/semantics/closedAccessCo-processorKinematicsSix legged robotAn FPGA based robot controller design and implementationConference Object2-s2.0-84983546524127N/A122