Design of a New Motion Control System on Chip Architecture for Robotic Manipulator

In this paper a new System on Chip (SoC) architecture is been proposed for motion control of robotic manipulators. The main idea is to use a separate control units for non servo and servo based motor devices. The control blocks are designed to handle the linear and non linear motion. The non servo based unit works on feedback control through data converts ADC and DAC. Additional charge pump circuit block is proposed for efficient driving capability. The servo motor control is designed using Inverse kinematics, quadrature encoder and pulse width modulators. The new SoC is designed for 13Onm technology consuming lesser power and area. Analysis results proves that the proposed design with SoC will be a new design prespective in the field of VLSI and Robotics. Implementation of Non servo control unit is done using Atmega8 board The Chip circuits are implemented in SPICE TOOL.