Control System in Open-Source FPGA for a Self-Balancing Robot

被引:13
|
作者
Ordonez Cerezo, Juan [1 ]
Castillo Morales, Encarnacion [2 ]
Canas Plaza, Jose Maria [1 ]
机构
[1] Rey Juan Carlos Univ, RoboticsLab URJC, Madrid 28943, Spain
[2] Granada Univ, DiTEC Res LAB, Granada 18071, Spain
来源
ELECTRONICS | 2019年 / 8卷 / 02期
关键词
robotics; open FPGAs; robot control; INVERTED PENDULUM;
D O I
10.3390/electronics8020198
中图分类号
TP [自动化技术、计算机技术];
学科分类号
0812 ;
摘要
Computing in technological applications is typically performed with software running on general-purpose microprocessors, such as the Computer Processing Unit (CPU), or specific ones, like the Graphical Processing Unit (GPU). Application-Specific Integrated Circuits (ASICs) are an interesting option when speed and reliability are required, but development costs are usually high. Field-Programmable Gate Arrays (FPGA) combine the flexibility of software with the high-speed operation of hardware, and can keep costs low. The dominant FPGA infrastructure is proprietary, but open tools have greatly improved and are a growing trend, from which robotics can benefit. This paper presents a robotics application that was fully developed using open FPGA tools. An inverted pendulum robot was designed, built, and programmed using open FPGA tools, such as IceStudio and the IceZum Alhambra board, which integrates the iCE40HX4K-TQ144 from Lattice. The perception from an inertial sensor is used in a PD control algorithm that commands two DC motors. All the modules were synthesized in an FPGA as a proof of concept. Its experimental validation shows good behavior and performance.
引用
收藏
页数:19
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