Embedded FPGA-based Motion Planning and Control of a Dual-arm Car-like Robot

Chand, Ravinesh; Chand, Ronal P.; Assaf, Mansour H.; Naicker, Parmesh R.; Narayan, Shailendra V.; Hussain, Abdul F.

doi:10.1109/spec55080.2022.10058252

Cited by 6 publications

(6 citation statements)

References 23 publications

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“…With the ability to calculate and process data in parallel, FPGAs are widely used in the field of robot control. FPGA helps improve hardware processing power and real-time information processing speed [34][35][36][37][38][39][40].Chen et al [34] implemented the forward/inverse kinematics for a SCRARA robot on FPGA. The parameterized function is utilized to increase the code flexibility in the design, and then the Finite state machine is employed to reduce the hardware resource.…”

Section: Introductionmentioning

confidence: 99%

“…The parameterized function is utilized to increase the code flexibility in the design, and then the Finite state machine is employed to reduce the hardware resource. FPGA-based motion control was developed by Chand et al [38] for a dual-arm robot. The motion planning and control problem was solved by implementing Lyapunov-based acceleration controllers on FPGA.…”

Section: Introductionmentioning

confidence: 99%

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Design and development of a cost efficiency robot arm with a PLC-based robot controller

Duy

2024

FME Transactions

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To develop a cost-efficient robot arm for a typical pick and place application that can applied in industry, this paper deployed a programmable logic controller (PLC) to control the rotation motion of the robot joints. The main tasks of the PLC controller are to calculate the kinematics, create high-speed pulse outputs for stepper motors, and implement sequence operations for a certain application. Functions are written into subprogram segments. When needed, the main program only turns on the corresponding flag for executing the subprogram. Using the pre-written subprograms, a logical sequence to implement the Pick and Place application is easily implemented and described in this paper. The PLC program is developed to control a SCARA robot with three rotation joins. Stepper motors drive the robot joints. The Delta DVPSV2 PLC is utilized to design the robot controller. This PLC series has four high-speed pulse output pins, which is suitable for this project. Synchronous motion of stepper motors is easily performed using high-speed pulse output commands built into the PLC program. Experimental results of robot arm control have demonstrated the efficiency and accuracy of the developed program. The robot arm's forward and inverse kinematics problems are verified using the simulator on the software. The robot's joints move synchronously as required to perform pick-and-place applications.

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Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Design and development of a cost efficiency robot arm with a PLC-based robot controller

Duy

2024

FME Transactions

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“…This research uses the Lyapunov-based control scheme (LbCS), is applied widely in robotics, especially in the analysis of motion planning and control problems [41] , [42] , [43] . It is a type of Artificial Potential Field method that uses the Lyapunov function or total potentials to design appropriate velocity or acceleration-based controllers that guide the robots to their designated goals.…”

Section: Introductionmentioning

confidence: 99%

Navigation of a compartmentalized robot system

Sharma

Karan

Kumar

et al. 2023

Heliyon

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“…Las FPGAs ofrecen ventajas significativas para aplicaciones en sistemas robóticos como: bajo consumo de energía, rendimiento, velocidad de procesamiento, paralelismo, aceleración de hardware, reconfigurabilidad, versatilidad y baja latencia (Al-Khalidy et al, 2020;Chand et al, 2022;Liu et al, 2021;Miyagi et al, 2021;Nilay et al, 2020;Wan et al, 2021Wan et al, , 2022. Sin embargo, el uso de FPGAs aún no está muy extendido debido a una complejidad mayor con respecto a la programación en software y la integración de componentes de hardware y software por medio del codiseño (Podlubne & Göhringer, 2022;Wan et al, 2021Wan et al, , 2022.…”

Section: Introductionunclassified

“…Sin embargo, el uso de FPGAs aún no está muy extendido debido a una complejidad mayor con respecto a la programación en software y la integración de componentes de hardware y software por medio del codiseño (Podlubne & Göhringer, 2022;Wan et al, 2021Wan et al, , 2022. Dentro de la literatura existen esfuerzos en el uso de FPGAs en robótica, algunos ejemplos de los trabajos más actuales son los siguientes: (i) recolector de fruta robótico con base móvil y brazo de tres grados de libertad con aceleración de redes neuronales en FPGA (Nilay et al, 2020), (ii) robot omnidireccional de tres ruedas con control inteligente adaptativo en FPGA (Al-Khalidy et al, 2020), (iii) robot de rescate con control en FPGA (Sudhakar et al, 2023), (iv) robot con base móvil y dos brazos robóticos con planificación y control de movimiento en FPGA (Chand et al, 2022), (v) robot autónomo con procesamiento de imágenes en FPGA (Kojima, 2022), (vi) robot móvil con aparcamiento autónomo en FPGA (Divya Vani et al, 2022), (vii) robot de rescate con detección en FPGA (Sun et al, 2014), (viii) robot móvil con controlador cinemático en FPGA (Tsai et al, 2010), y (ix) robot móvil con procesamiento de imágenes en FPGA (Miyagi et al, 2021).…”

Section: Introductionunclassified

Desarrollo de arquitectura SoPC para robot móvil basado en FPGA

Suárez Gómez,

Bareño Quintero

2023

Publ. investig.

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In the context of the rapid progress in the field of mobile robotics, the need for efficient systems with high embedded processing power has emerged as a fundamental challenge. This paper addresses this issue by using FPGAs, devices underutilized in the literature for the development of architectures with H/S (hardware/software) co-design in mobile robots. The suitability of FPGAs for this purpose is highlighted, as they offer a balance between efficiency and low power consumption. The paper focuses on the implementation of a SoPC (System on Programmable Chip) based architecture designed specifically for an FPGA-based differential drive mobile robot. The most relevant aspects of the design are presented by means of diagrams illustrating the layout and interconnection of key components. The practical implementation of this architecture was carried out on a mobile robot whose processing unit is a DE0 Nano development board equipped with a Cyclone® IV FPGA. The results obtained reveal a successful behavior of the architecture in terms of interfacing with sensors, actuators, and data processing. The efficiency of the design is reflected in the balanced occupation of resources in the FPGA, highlighting the 67% of logical area still available for future implementations of modules for hardware acceleration. This paper demonstrates the feasibility and efficiency of FPGAs in the design of advanced architectures for mobile robots, providing a solid foundation for future research and development in the field of robotics.

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Embedded FPGA-based Motion Planning and Control of a Dual-arm Car-like Robot

Cited by 6 publications

References 23 publications

Design and development of a cost efficiency robot arm with a PLC-based robot controller

Design and development of a cost efficiency robot arm with a PLC-based robot controller

Navigation of a compartmentalized robot system

Desarrollo de arquitectura SoPC para robot móvil basado en FPGA

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