Industrial robot arm controller based on programmable System-on-Chip device

Field-programmable gate arrays (FPGAs) and, recently, System on Chip (SoC) devices have been applied in a wide area of applications due to their flexibility for real-time implementations, increasing the processing capability on hardware as well as the speed of processing information in real-time. Th...

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Autor principal:	Cong Vo Duy
Formato:	article
Lenguaje:	EN
Publicado:	University of Belgrade - Faculty of Mechanical Engineering, Belgrade 2021
Materias:	industrial robot arm robot controller motion control system all programmable soc fpga Engineering (General). Civil engineering (General) TA1-2040 Mechanics of engineering. Applied mechanics TA349-359
Acceso en línea:	https://doaj.org/article/42c57a745b2a47adba43bd33109861e9
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spelling	oai:doaj.org-article:42c57a745b2a47adba43bd33109861e92021-12-05T21:01:51ZIndustrial robot arm controller based on programmable System-on-Chip device1451-20922406-128X10.5937/fme2104025Chttps://doaj.org/article/42c57a745b2a47adba43bd33109861e92021-01-01T00:00:00Zhttps://scindeks-clanci.ceon.rs/data/pdf/1451-2092/2021/1451-20922104025C.pdfhttps://doaj.org/toc/1451-2092https://doaj.org/toc/2406-128XField-programmable gate arrays (FPGAs) and, recently, System on Chip (SoC) devices have been applied in a wide area of applications due to their flexibility for real-time implementations, increasing the processing capability on hardware as well as the speed of processing information in real-time. The most important applications based on FPGA/SoC devices are focused on signal/image processing, Internet of Things (IoT) technology, artificial intelligence (AI) algorithms, energy systems applications, automatic control and industrial applications. This paper develops a robot arm controller based on a programmable System-OnChip (SoC) device that combines the high-performance and flexibility of a CPU and the processing power of an FPGA. The CPU consists of a dual-core ARM processor that handles algorithm calculations, motion planning and manages communication and data manipulation. FPGA is mainly used to generate signals to control servo and read the feedback signals from encoders. Data from the ARM processor is transferred to the programmable logic side via the AXI protocol. This combination delivers superior parallel-processing and computing power, real-time performance and versatile connectivity. Additionally, having the complete controller on a single chip allows the hardware design to be simpler, more reliable, and less expensive.Cong Vo DuyUniversity of Belgrade - Faculty of Mechanical Engineering, Belgradearticleindustrial robot armrobot controllermotion control systemall programmable socfpgaEngineering (General). Civil engineering (General)TA1-2040Mechanics of engineering. Applied mechanicsTA349-359ENFME Transactions, Vol 49, Iss 4, Pp 1025-1034 (2021)
institution	DOAJ
collection	DOAJ
language	EN
topic	industrial robot arm robot controller motion control system all programmable soc fpga Engineering (General). Civil engineering (General) TA1-2040 Mechanics of engineering. Applied mechanics TA349-359
spellingShingle	industrial robot arm robot controller motion control system all programmable soc fpga Engineering (General). Civil engineering (General) TA1-2040 Mechanics of engineering. Applied mechanics TA349-359 Cong Vo Duy Industrial robot arm controller based on programmable System-on-Chip device
description	Field-programmable gate arrays (FPGAs) and, recently, System on Chip (SoC) devices have been applied in a wide area of applications due to their flexibility for real-time implementations, increasing the processing capability on hardware as well as the speed of processing information in real-time. The most important applications based on FPGA/SoC devices are focused on signal/image processing, Internet of Things (IoT) technology, artificial intelligence (AI) algorithms, energy systems applications, automatic control and industrial applications. This paper develops a robot arm controller based on a programmable System-OnChip (SoC) device that combines the high-performance and flexibility of a CPU and the processing power of an FPGA. The CPU consists of a dual-core ARM processor that handles algorithm calculations, motion planning and manages communication and data manipulation. FPGA is mainly used to generate signals to control servo and read the feedback signals from encoders. Data from the ARM processor is transferred to the programmable logic side via the AXI protocol. This combination delivers superior parallel-processing and computing power, real-time performance and versatile connectivity. Additionally, having the complete controller on a single chip allows the hardware design to be simpler, more reliable, and less expensive.
format	article
author	Cong Vo Duy
author_facet	Cong Vo Duy
author_sort	Cong Vo Duy
title	Industrial robot arm controller based on programmable System-on-Chip device
title_short	Industrial robot arm controller based on programmable System-on-Chip device
title_full	Industrial robot arm controller based on programmable System-on-Chip device
title_fullStr	Industrial robot arm controller based on programmable System-on-Chip device
title_full_unstemmed	Industrial robot arm controller based on programmable System-on-Chip device
title_sort	industrial robot arm controller based on programmable system-on-chip device
publisher	University of Belgrade - Faculty of Mechanical Engineering, Belgrade
publishDate	2021
url	https://doaj.org/article/42c57a745b2a47adba43bd33109861e9
work_keys_str_mv	AT congvoduy industrialrobotarmcontrollerbasedonprogrammablesystemonchipdevice
_version_	1718370997833302016

Industrial robot arm controller based on programmable System-on-Chip device

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