A μP-μC-FPGA Synergy Controller for a Linear Delta Robot

Abstract:

The paper proposes a novel of fully integrated microprocessor (μP), microcontroller (μC) and field programmable gate array (FPGA) robot controller that combines their processing power to fully control all functions of a linear Delta robot. The μP computes the heavy floating point Mathematics including the control law and all robot kinematics at 1 kHz rate while FPGA processes all digital signals from/to the digital sensors and actuators in parallel. At the same time, the μC interfaces with analog I/O and personal computer and passes the signals to the μP via FPGA. The proposed controller is effectively used to control a robot. The experimental results demonstrate the performance of the proposed controller.

• Periodical: Applied Mechanics and Materials (Volume 619)
• Pages: 230-235
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.619.230
• Online since: August 2014
• Authors: Kitithorn Phanatamporn*, Ratchatin Chancharoen
• Keywords: Field Programmable Gate Array (FPGA), Fully Integrated Controller, Linear Delta Robot

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