Multi-axis motion controller for robotic applications implemented on an FPGA

Martínez-Prado, Miguel-Angel; Franco-Gasca, Alfonso; Herrera-Ruíz, Gilberto; Soto-Dorantes, Otoniel

doi:10.1007/s00170-012-4656-4

Cited by 12 publications

(4 citation statements)

References 14 publications

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“…In this sense, achieving a high-level integration and density of the used Printed Circuit Board (PCB) for the control implementation is defined as one of the most important criteria in the sector [14]. The authors in [15] discuss the block architecture and strategy that must be implemented in the FPGA to connect a speed profile to a controller.…”

Section: Introductionmentioning

confidence: 99%

FPGA-Based Architecture for Sensing Power Consumption on Parabolic and Trapezoidal Motion Profiles

et al. 2020

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The objective of this work is to design and implement a scalable Field-Programmable Gate Array (FPGA)-based motion control system for DC servo motors using a parabolic velocity profile for industrial applications. The implementation in this device allows the obtaining of a fast, flexible and low-cost system. The system is divided into control, communication and closed-loop coupling. The work also addresses a comparative analysis of the most used profiles, the trapezoidal and parabolic. The comparison is made considering the energy consumption of both profiles. As a consequence of the comparison made, the velocity profile can be selected to reduce production costs by saving energy and reducing wear on machinery. The discrete models of the velocity profiles are obtained through numerical methods that permit the control blocks to be implemented in an FPGA. To reduce maintenance costs and energy consumption in servo mechanisms, the derivation of the acceleration or jerk of the motor is shown. A Graphic User Interface (GUI) is presented, which allows monitoring the position, velocity and angular acceleration of the motor shaft. In addition, the developed interface supports modification of parameters of the final position and maximum velocity in the motor. The delivered current is compared, evaluating its decrease using a parabolic velocity profile. Finally, the experimental results are illustrated.

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Section: Introductionmentioning

confidence: 99%

FPGA-Based Architecture for Sensing Power Consumption on Parabolic and Trapezoidal Motion Profiles

et al. 2020

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“…The control algorithms have a wide spectrum of applications that are implemented on-chip FPGA-based solutions, including the motor drive control, mechatronics, and robotics. Such as for controlling of multi-unit PMSM motor drive position proposed by Sarayut et al [11], for direct visual control robotic system suggested by Aiman et al [12], for CNC applications by Jingchuan et al [13], and for robotic applications showed by Miguel et al [14]. The suggested controllers consist of implementing it into an FPGA (Field Programmable Gate Array) that allows using a specific processor hardware technology.…”

Section: Introductionmentioning

confidence: 99%

Influence of PWM Torque Control Frequency in DC Motors by Means of an Optimum Design Method

et al. 2020

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The phenomenon of non-linearity is the main problem of a DC motor and optimum performance cannot be obtained by the calculation of the controller's parameters using conventional methods. However, a DC motor is considered an extremely common device by the low-cost and effective dynamic response in various applications. Thus, it has been a subject for research studies to take advantage of its maximum performance. This manuscript proposes an experimental methodology that consists of the following: The DC motor's characterization method for finding the ideal frequency. The design of the Firmware-based Pulse Width Modulation (PWM) generating module and the P, PD, PID controller's implementation in an own FPGA-based programmable microprocessor to obtain almost the same performance as a servo-amplifier commercial of direct-drive. The PWM is a technique widely used to regulate the speed of rotation of a DC motor, in this case, the duty cycle of the PWM is used to provide the torque necessary to the mechanics of the system in order to look for a linear relationship but using the right frequency of the characterized DC motor. Finally, based on a built prototype of a micro-positioning system using the characterized motors, and the mathematical model, in both cases the three controllers were applied in order to establish the comparison between the responses, seeking to observe if the experimental results show a great difference with respect to the simulation results. The main aim of this study is to show that the proposed methodology works. However, since there was no significant difference in both results, motors used in the closed-loop control present approximately the same linear response as that of the motor model used in the simulation.

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“…In the other architecture, the synchronous control algorithm is implemented in a single-core microprocessor, such as digital signal processor (DSP) or Nios embedded in field programmable gate array (FPGA). 11 A prototype of the hexapod robot was designed to achieve multi-legged coordinated movement. The complicated control algorithms are implemented using the ATmega162 microcontroller, which handles the high-level computation involving generation of the CPG signal and the inverse kinematic relations, reads, processes, and sends data from the sensors.…”

Section: Introductionmentioning

confidence: 99%

Development of multi-motor synchronous control system based on network-on-chip

Xiao

Qingqi

Liu

et al. 2020

Proceedings of the Institution of Mechanical Engineers, Part I:

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This article presents a novel system architecture based on network-on-chip for multi-motor synchronous control. The system integrates several servo motor controllers in a single chip which permits an increase to the number of motors according to the application requirements. Compared with traditional multi-motor control architectures, such as bus-based distributed architecture and single-core microprocessor architecture, network-on-chip-based architecture supports high-precision multi-axis real-time control with high network bandwidth and parallel processing. A four-wheel drive intelligent car experiment platform is developed for performance testing. It has a convenient process for parameter tuning. Several experiments are conducted to demonstrate the feasibility and real-time performances of the system. The research work has a good potential in integration, real-time performance of multi-motor synchronous control system.

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Multi-axis motion controller for robotic applications implemented on an FPGA

Cited by 12 publications

References 14 publications

FPGA-Based Architecture for Sensing Power Consumption on Parabolic and Trapezoidal Motion Profiles

FPGA-Based Architecture for Sensing Power Consumption on Parabolic and Trapezoidal Motion Profiles

Influence of PWM Torque Control Frequency in DC Motors by Means of an Optimum Design Method

Development of multi-motor synchronous control system based on network-on-chip

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