FPGA-Implementation of Inverse Kinematics and Servo Controller for Robot Manipulator

摘要

The implementation of inverse kinematics and servo controller for robot manipulator using FPGA (field programmer gate array) is investigated in this paper. Firstly, the mathematical model and the servo controller of robot manipulator are described. Secondly, the inverse kinematics is formulated. Thirdly, the circuit design to implement the function of inverse kinematics and servo controller based on FPGA is introduced. To reduce the usage of the logic elements (LEs) in FPGA, a finite state machine (FSM) method by overall 42 steps to implement the computation of inverse kinematics is applied. Finally, to evaluate the performance of the proposed design circuits, an experimental system consisted by the proposed FPGA-based motion controller and a Mitsubishi RV-M1 micro robot are set up and some experimental results are demonstrated the correctness and effectiveness.