TY - GEN
T1 - FPGA-BASED IMPLEMENTATION of TORQUE CONTROLLER for 6-DOF ARTICULATED ROBOTS
AU - Tan-Phat, Phan
AU - Chao, Paul C.P.
AU - Huang Zih-Wei, Zih-Wei
N1 - Publisher Copyright:
© 2021 by ASME.
PY - 2021/6
Y1 - 2021/6
N2 - This paper aims to design an impedance position-based proportional-integral-derivative (PID) controller based on forward and inverse kinematics of HIWIN RA605 articulated robot, and Field-Programmable Gate Array (FPGA) implementation for a PID torque controller. In order to control the robot, the FPGA needs to output commands to communicate with the AC servo motor drivers. An FPGA-based controller for a 6-degree-of-freedom (DOF) articulated robot that implements several tasks such as hardware implementation, encoder counters, noise cancellation algorithm, analog generators, PID controller, and communication are included, the processing time of the FPGA is 16 us. Meanwhile, the whole process of the system only takes 82 us to complete.
AB - This paper aims to design an impedance position-based proportional-integral-derivative (PID) controller based on forward and inverse kinematics of HIWIN RA605 articulated robot, and Field-Programmable Gate Array (FPGA) implementation for a PID torque controller. In order to control the robot, the FPGA needs to output commands to communicate with the AC servo motor drivers. An FPGA-based controller for a 6-degree-of-freedom (DOF) articulated robot that implements several tasks such as hardware implementation, encoder counters, noise cancellation algorithm, analog generators, PID controller, and communication are included, the processing time of the FPGA is 16 us. Meanwhile, the whole process of the system only takes 82 us to complete.
KW - 6-DOF articulated robots
KW - anti-collision
KW - embedded system
KW - force/torque control
KW - FPGA-based
KW - high-speed controller
KW - noise cancellation
KW - PID algorithm
UR - http://www.scopus.com/inward/record.url?scp=85109381752&partnerID=8YFLogxK
U2 - 10.1115/ISPS2021-65255
DO - 10.1115/ISPS2021-65255
M3 - Conference contribution
AN - SCOPUS:85109381752
T3 - Proceedings of the ASME 2021 30th Conference on Information Storage and Processing Systems, ISPS 2021
BT - Proceedings of the ASME 2021 30th Conference on Information Storage and Processing Systems, ISPS 2021
PB - American Society of Mechanical Engineers (ASME)
T2 - ASME 2021 30th Conference on Information Storage and Processing Systems, ISPS 2021
Y2 - 2 June 2021 through 3 June 2021
ER -