An FPGA-Based Multiple-Axis Motion Control Chip

Cho, Jung Uk; Le, Quy Ngoc; Jeon, Jae Wook

doi:10.1109/tie.2008.2004671

Cited by 82 publications

(11 citation statements)

References 20 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Accuracy in robotics refers to a robot's capability to reach its designated target, hit a mark or acquire an optimal answer. Therefore, a motion control system is an integral component in the robotic arm manipulator as it affects the performance and accuracy of the robots (Kang et al, 2009). Kinematics, motion control systems, accuracy and arm controller are highly challenging aspects in the field of robotics, for which, several researches have been conducted in the past (Thomas and Rajasekaran, 2014).…”

Section: Introductionmentioning

confidence: 99%

Accurate Estimation of Robotic Arm Movements for Effective Motion Control: Utilizing Multiple Sensors and Data Fusion

2024

ZJPAS

View full text Add to dashboard Cite

The robotic manipulators are highly complex coupling dynamic systems, which require a mathematical model for planning and controlling the robotic motions. It is imperative to calculate the kinematic parameters such as rotational matrix, joint angles, angular velocity, and angular acceleration, which determines the control performance of the models. For this purpose, a multiple-sensor-based Mathematical approach that utilizes inertial measurement unit (IMU) and triple-axis accelerometer is presented in this paper. A combination of one IMU and three triple-axis accelerometers is affixed to each of the two rigid bodies for real-time determination of parameters and the robotic arm orientation. Additionally, the model incorporates an Extended Kalman filter (EKF) fusion technique to combine data from various sensors, mitigate measurement noise, and adapt in real-time to changing environments. To implement this approach, a MATLAB code is developed to read, preprocess sensors data, and simulation of the proposed model. All the results are presented graphically and indicate that the motion parameters and pose measurements are calculated accurately and effectively.

show abstract

Section: Introductionmentioning

confidence: 99%

Accurate Estimation of Robotic Arm Movements for Effective Motion Control: Utilizing Multiple Sensors and Data Fusion

2024

ZJPAS

View full text Add to dashboard Cite

show abstract

“…Classical control methods, such as PID or P-PI (proportional integral) cascade control, have the advantages of simple principle, convenient use, and strong robustness, among others, and these methods have been widely used in industrial motion control [5,6]. However, a traditional control algorithm only considers the control model of the rigid-body dynamics of the system, ignoring the significant influence of structural vibration on the servo bandwidth [1,7].…”

Section: Introductionmentioning

confidence: 99%

The Design of a Tracking Controller for Flexible Ball Screw Feed System Based on Integral Sliding Mode Control with a Generalized Extended State Observer

Zhu,

Bao,

Huang

2023

Actuators

View full text Add to dashboard Cite

This article proposes a servo control strategy for compensating matched and mismatched perturbations in flexible ball screw feed systems to improve their tracking performance. The perturbations that satisfy or dissatisfy the matching conditions include external disturbances, parameter uncertainties, and unmodeled dynamics. The flexible ball screw feed model includes both a rigid body and first-order axial structural dynamics. A generalized extended state observer is adopted to observe the matched and mismatched perturbations and various state variables of the system, and an improved integral sliding mode controller is proposed that can simultaneously compensate for the perturbations of the system that satisfy and dissatisfy the matching conditions. In addition, vibration compensation is designed for first-order axial vibration of the system to develop a controller that can quickly and accurately track the ideal reference trajectory, suppress system structural vibrations, and be robust to time-varying uncertainties and external disturbances. Finally, the tracking performance, anti-interference performance, and vibration suppression performance of the designed controller are verified via simulation and comparative experiments.

show abstract

“…The FPGA technology has been applied to multi-axis servo and motion control systems [3][4][5][6][7], to image processing and stereo vision [8][9][10][11][12], to real-time visual servo [13], and to vision and motion integrated systems [14]. This research applies a single FPGA chip in a prototypical tracking control system for a robot manipulator by using two CMOS cameras to detect the object motion information.…”

Section: Introductionmentioning

confidence: 99%

An FPGA Implementation of a Robot Control System with an Integrated 3D Vision System

2015

View full text Add to dashboard Cite

Robot decision making and motion control are commonly based on visual information in various applications. Positionbased visual servo is a technique for vision-based robot control, which operates in the 3D workspace, uses real-time image processing to perform tasks of feature extraction, and returns the pose of the object for positioning control. In order to handle the computational burden at the vision sensor feedback, we design a FPGA-based motion-vision integrated system that employs dedicated hardware circuits for processing vision processing and motion control functions. This research conducts a preliminary study to explore the integration of 3D vision and robot motion control system design based on a single field programmable gate array (FPGA) chip. The implemented motion-vision embedded system performs the following functions: filtering, image statistics, binary morphology, binary object analysis, object 3D position calculation, robot inverse kinematics, velocity profile generation, feedback counting, and multiple-axes position feedback control.

show abstract

An FPGA-Based Multiple-Axis Motion Control Chip

Cited by 82 publications

References 20 publications

Accurate Estimation of Robotic Arm Movements for Effective Motion Control: Utilizing Multiple Sensors and Data Fusion

Accurate Estimation of Robotic Arm Movements for Effective Motion Control: Utilizing Multiple Sensors and Data Fusion

The Design of a Tracking Controller for Flexible Ball Screw Feed System Based on Integral Sliding Mode Control with a Generalized Extended State Observer

An FPGA Implementation of a Robot Control System with an Integrated 3D Vision System

Contact Info

Product

Resources

About