An FPGA based robot controller design and implementation

被引：0

作者：

Erkol, H. O. ^{[1
]}

Demirel, H. ^{[2
]}

机构：

[1] Karabuk Univ, Fac Technol, Dept Mechatron Engn, TR-78000 Karabuk, Turkey

[2] Karabuk Univ, Fac Engn, Dept Elect Elect Engn, TR-78000 Karabuk, Turkey

来源：

INTELLIGENT TECHNOLOGIES IN LOGISTICS AND MECHATRONICS SYSTEMS - ITELMS'2015 | 2015年

关键词：

six legged robot; co-processor; kinematics;

D O I：

暂无

中图分类号：

TH [机械、仪表工业];

学科分类号：

0802 ;

摘要：

In this study, a co-processor for six-legged robot is designed and implemented. Kinematic calculations are complicated and many times we need a separate computation unit when we need high accuracy and precision. Co-processor usage is widespread for decreasing the load on the main computation unit. The co-processor designed in this study is specialized for servo motors controlled via serial port. The co-processor takes and sends the command via serial port. It can compute the joint angels of an 18 degree of freedom (DOF) six-legged robot in real time. The experimental studies are made by computer and on a robot prototype and taken good results.

引用

页码：122 / 127

页数：6

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