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A VhDL application for kinematic equation solutions of multi-degree-of-freedom systems

Journal of Zhejiang University-Science C(Computers and Electronics) 2014年第12期15卷 1164-1173页

作者： hüseyin oktay erkol hüseyin DEMíREL Department of Mechatronics Engineering Faculty of Technology Karabük University Department of Electrical and Electronics Engineering Faculty of Engineering Karabük University

As kinematic calculations are complicated, it takes a long time and is difficult to get the desired accurate result with a single processor in real-time motion control of multi-degree-of-freedom(MDOF) systems. Another calculation unit is needed, especially with the increase in the degree of freedom. The main central processing unit(CPU) has additional loads because of numerous motion elements which move independently from each other and their closed-loop controls. The system designed is also complicated because there are many parts and cabling. This paper presents the design and implementation of a hardware that will provide solutions to these problems. It is realized using the Very high Speed Integrated Circuit hardware Description Language(VhDL) and field-programmable gate array(FPGA). This hardware is designed for a six-legged robot and has been working with servo motors controlled via the serial port. The hardware on FPGA calculates the required joint angles for the feet positions received from the serial port and sends the calculated angels to the servo motors via the serial port. This hardware has a co-processor for the calculation of kinematic equations and can be used together with the equipment that would reduce the electromechanical mess. It is intended to be used as a tool which will accelerate the transition from design to application for robots.

关键词： Multi-degree-of-freedom systems Kinematics Co-processor Serial communication Six-legged robot

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