FPGA기반 고성능 로봇 제어기 설계

Abstract

A variety of sensors and actuators have been developed and adopted for use in robots. Integration of these sensors and actuators for robot control complicates the design of robot controller both in hardware and software. The robot controller needs to be highly efficient and be able to accommodate various types of interface. It should provide coherent interface to the actuators and sensors. This paper describes a robot controller which uses FPGA. The final goal of th research is to implement an FPGA based robot controller which includes ARM, DSC, and standard network facilities. As an initial stage of the research, this paper describes a robot controller which uses FPGA and RS-232c. The controller consists of PC, FPGA based motor drivers. The PC communicates with the motor driver via RS-232c. The motor driver can run two BLDC motor Results of experiments on motor control are presented. It is found that the FPGA based robot controller can have high performance, compatibility, and flexibility compared with the controllers with fixed processors and structure.