Motion Control of Robot Arm

• Main Authors: Feng-Ming,Yang, 楊豐銘
• Other Authors: Y.S.Kung
• Format: Others
• Language: zh-TW
• Published: 101
• Online Access: http://ndltd.ncl.edu.tw/handle/85686408339970234441

碩士 === 南台科技大學 === 電機工程系 === 100 === A motion control system for an articulated robot arm using System On a Programmable Chip (SOPC) technology is presented in this thesis. The development environment of SOPC technology includes a Field Programmable Gate Array (FPGA) and a Nios II processor which can be embedded into FPGA than using FPGA to development of servo control of robot arm. In the proposed motion control system, there are two modules. One Module is implemented by software using Nios II embedded processor, it is major function included motion control and point to point motion trajectory control and straight-line trajectory planning. The other module is implemented by hardware circuit to calculate of the inverse kinematics of five-axis robot arm in the FPGA, and peripheral I/O signal input and output. In the latter module, it includes a set of inverse kinematics circuit and RS-232 communication circuit. Programs in Nios II processor are coded in C language and digital hardware circuits are designed by VHDL language. The FPGA chip adopts Altera Cyclone II 2C35 FPGA, and a Nios II processor can be embedded into this FPGA chip. Therefore, under this SOPC environment, it is very suitable for developing the motion control system like the robot arm. At last, an experimental system which includes a FPGA-based experimental board and AX-12 robot arm. And some experimental results have been provided and demonstrated the effectiveness and correctness of the proposed motion control system of the robot arm.