Development of Parallel Delta Robot System Controller Based on Raspberry Pi and FPGA

Abstract:

This paper presents a system control design on 2 axes “Delta Industrial Robot”. The control system utilizes both the embedded technology and the “Raspberry Pi" which is a low power consumption PC with open source operating system. The user can communicate with the PC and FPGA (Field Programmable Gate Array) via the system GUI interface. The FPGA acts as dedicated hardware to provide both the efficiency and flexibility for the closed-loop servo control system.To calculate all related kinematics equations for the robot, look up table approach has been implemented to reduce the calculation complexity. Python programs are also implemented to create and search the look up tables. The inverse kinematics is the key to find the position of the robot. A test load of 0.2 kg at the velocity of 2.618 m/s, the S.D. of the end effector’s position of the test result is within 0.06 mm.

• Periodical: Applied Mechanics and Materials (Volume 835)
• Pages: 698-704
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.835.698
• Online since: May 2016
• Authors: Wanayuth Sanngoen, Watcharin Po-Ngaen, Chirot Charitkhuan, Kitsada Doungjitjaroen
• Keywords: FPGA, Look up Table, Raspberry Pi

References

[1] X.Q. He, Z.D. Wang, H.T. Fang, H.A. Kai, R.X. Du, Embedded Robot Controller Based on ARM and FPGA, 2014 IEEE.

[2] M. Xu, W.Z. Zhu, Y. Zou, Design of a Reconfigurable Robot Controller Based on FPGA, 2008 IEEE DOI 10. 1109/SEC. 2008. 33.

[3] L. Zhang, P. Slaets, H. Bruyninckx, An Open Embedded Hardware and Software Architecture Applied to Industrial Robot Control, Proceedings of 2012 IEEE International Conference on Mechatronics and Automation August 5 - 8, Chengdu, China.

DOI: 10.1109/icma.2012.6285098

[4] M. Mustafa, R. Misuari, H. Daniyal, Forward Kinematics of 3 Degree of Freedom Delta Robot, The 5th Student Conference on Research and Development –SCOReD, (2007), Malaysia.

DOI: 10.1109/scored.2007.4451401

[5] M.K. Wu, Y.S. Kung, Y.H. Huang, T.H. Jung, Fixed-Point Computation of Robot Kinematics in FPGA, 2014 International Confernce on Advanced Robotics and Intelligent System (ARIS 2014), June 6-8 2014, Nat Taiwan Univ. of Sci. and Tech, Taipei, Taiwan, R.O. C.

DOI: 10.1109/aris.2014.6871523

[6] V. Pereira, V.A. Fernandes, J. Sequeira, Low Cost Object Sorting Robotic Arm using Raspberry Pi, 2014 IEEE Global Humanitarian Technology Conference - South Asia Satellite (GHTC-SAS) | September 26-27, 2014, Trivandrum.

DOI: 10.1109/ghtc-sas.2014.6967550

[7] S.N. Oh, S.U. Lee, K.I. Kim, Design of a Biped Robot Using DSP and FPGA, Int. J. Control Automat. Syst. 1(2) (2003) 252-256.