Implementation of control algorithms in field programmable gate arrays

被引：0

作者：

Petko, Maciej ^{[1
]}

Karpiel, Grzegorz ^{[1
]}

机构：

[1] AGH Univ Sci & Technol, Dept Robot & Mechatron, Al Mickiewicza 30, PL-30059 Krakow, Poland

来源：

2007 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS, VOLS 1-3 | 2007年

关键词：

D O I：

暂无

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

The paper presents problems related to implementation of control algorithms in FPGA. Proposed solution is based on System-on-Programmable-Chip architecture with soft-processor that allows for mixed, hardware/software implementation and exploration of possible control algorithm realizations, and semi-automatic implementation of custom components in FPGA. The case study is a neural controller for 3-DOF parallel robot for milling. The controller is based on neural model of the inverse dynamics of the manipulator, trained on data collected with the use of a computed torque stabilizing controller. For comparison, both controllers were implemented in a system of the same.

引用

页码：204 / +

页数：2

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