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.

In the small version of the RoboCup competition, some hardware designers utilize off-the-shelf controller such as: LM629 etc. to setup a PID control loop for each individual motor on the wheel. The drawback of such approach is the unbalanced synchronization of the controllers because the programmer has to send a series of command bytes to each controller individually one by one. This creates a time lag of at approximately 12+ µS for each controller setup. The time lag for such controllers varies depending on the number of controllers involved with the move. For a typical 4-wheels robot, such the time lag can vary up to 3 setup times lag (36+ µS) between the setup of the 1 st to the setup of the 4 th motor. The purpose of this paper is to use the proposed field programmable gate array (FPGA) implementation to eliminate such problem.

The development of embedded technology has rapidly captured the attention of the sensor manufactures around the world, various sensing devices are being developed with embedded controller which simplify the concept of old style integration into the data communication between controllers. The main controller sends command and retrieves data/status from the slave controllers and acts accordingly, as the result, the software development cycle has decreased drastically. The paper is an example of an effort to implement distributed control concept into a small-sized RoboCup which in turn simplify the design and allow the designer to easily add more features to the robot.