| Summary: | 碩士 === 南臺科技大學 === 機械工程系 === 104 === With advance in Industry 4.0. smart factory and image processing are getting popular .Therefore ,the stability and precision of industrial robot are increasing gradually, and replacing the work of persons at the same time.The Industrial robot will be necessary.
In this study, the Cyclone IV–EP4CE115 chip produced by Altera was adopted as a processor to compute kinematics of six-axis robot with offset. The six-axis robot is one of the most common in industry robots today.For this, forward kinematics computed by FPGA is established and discussed. Besides, fixed-point number format is used.The VHDL code is written in Quartus and downloaded to FPGA.The Data Acquisition Board is used to transfer the results from FPGA to PC.Error analysis is also performed to check the validity of the algorithm and compared with floating-point number.The results will not differ too much. Because computation in fixed-point format is much faster than floating-point format, it can be used in some applications where the errors are within the acceptable range.
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