FPGA Implementation of Closed-loop Control System for Small-sized RoboCup

Abstract

In the small version of the RoboCup competition, some hardware designers utilize off-the-shelf controller such as: LM629 etc. to setup a PID control loop for each individual motor on the wheel. The drawback of such approach is the unbalanced synchronization of the controllers because the programmer has to send a series of command bytes to each controller individually one by one. This creates a time lag of at approximately 12+ µS for each controller setup. The time lag for such controllers varies depending on the number of controllers involved with the move. For a typical 4-wheels robot, such the time lag can vary up to 3 setup times lag (36+ µS) between the setup of the 1 st to the setup of the 4 th motor. The purpose of this paper is to use the proposed field programmable gate array (FPGA) implementation to eliminate such problem.

FPGA-Based Control System for 6-UPS Medical Parallel Robot

“…Kongmunvattana et al implemented a FPGA-based behavioral control system for a mobile robot [3]. Chen et al implemented a complete FPGA-based controller for wheelchair [4].Charitkhuan et al designed a closed-loop control system for robots in the RoboCup small sized league [5]. N. Chakravarthy et al implemented a FPGA-based control system for miniature robots [6].…”