FPGA DRIVEN ROBOTIC ARM CONTROL

Abstract

Stepper Motor- Driven Robotic Arm Control is one of the real-time applications where FPGAs can be used. Though a number of sophisticated 'Cs for stepper-motor control are available. However, the advanced features of these chips- self-clocking, high current drive, and full-step, half-step, and direction control are often unnecessary or remain unused. FPGAs are ideal for integrating the control logic for these motors with their system control logic to minimize device count and board size. A working model of a robot with its arm movement governed by stepper motors has been used as a process model. The aim of this dissertation work is to control its movement using an FPGA. Verilog-HDL has been used to program the FPGA. Experiments were conducted using FPGAs. The FPGA has been made capable of generating step pulses and direction signals for the driver. In addition, it was typically used to perform many other sophisticated command functions. The purpose of this dissertation work is to understand the basic ideas of • Robotics (specially robotic arm) • FPGAs and Verilog programming The program so developed in Verilog provides for the control of the three robotic arms simultaneously. Complete control of the three Robotic arms using an FPGA is achieved such that it can be used as a stand-alone unit. Select lines were provided as input to FPGAs and depending on their status one or more of the Robotic Arms were controlled in a desired way. While speed and direction control of Robotic Arm has been successfully implemented and tested using FPGAs, position control could only be carried out till simulation stage.