6-DOF Arm Robot Control Using Open-Source FPGA

This research explores the application of open-source FPGA development tools, specifically Yosys and Nextpnr, open-source FPGA development tools, to develop a control system for a 6-DOF servo robot arm using the Lattice iCE40 HX1K FPGA, known for its limited resources. The core objective is to enhance this FPGA's functionality to support a complex robotic control system. Using Pulse Width Modulation (PWM), linear interpolation for dynamic duty cycle adjustments on ticks, and the FPGA's Phase-Locked Loop (PLL) for signal precision, the study successfully creates a sophisticated control mechanism. A Finite State Machine (FSM) approach with clock cycle-based timers is employed to improve motion control. The project effectively utilizes FPGA resources, including 594 Logic Cells, 12 RAM blocks, 13 I/O pins, 3 GB of internal storage, and 1 PLL, achieving a timing estimate of 9.80 ns and an operational frequency of 102.04 MHz. The findings demonstrate the efficiency of open-source tools in facilitating complex digital designs on constrained FPGAs and their potential to enhance robotic system functionalities. The results of this research can be viewed at the following link: https://youtu.be/RV-qAxQUvnI?si=LHrlhxLupFPrd-ht