Automated Electric Arm with FPGA Processor and Embedded Systems

Abstract

The field of robotics makes use of a wide variety of electrical and mechanical techniques, in addition to other approaches including computing, intelligence, and the creation of new technologies that are now in use as well as those that are still in the development stage. Industries all over the world are now in a position to produce a wide variety of technologies thanks to the rapid expansion of robotics and automation. Real-time image and video processing presents a number of significant obstacles, one of the most significant of which is the execution of complicated functions and high computing jobs. On the Xilinx Zynq®-7000 System on-Chip (SoC) device, which consists of Dual-core Cortex -A9 processors and which provides the computing ability to perform with the assistance of software libraries created with Vivado® High-Level Synthesis, a hardware acceleration of various filter algorithms for both image and video processing has been implemented. This was done so that the problem could be resolved (HLS). In these kinds of activities, it is necessary for the manipulator to move along a route that has been specified in advance. This presents a significant challenge for the manipulator's motion or trajectory planning as well as its motion control. It is necessary to do extensive research on the arm dynamics and the control of the limited motion of the manipulators before attempting to position the arm. A fundamentally dynamical challenge lies behind the successful management of industrial robots. The accuracy with which parameter deviations or errors are measured is the foundation for determining a control system's level of effectiveness. Through the development of a novel mathematical technique known as the Single Term Haar Wavelet Series method, the current study intends to perform an analysis of the control system of an industrial robot arm and a reduction in the amount of error that takes place while the robot is working continuously.