Secuenciador dinámico para el control de movimiento de robot hexápodo en una arquitectura FPGA-Reference-Cited by-同舟云学术

Secuenciador dinámico para el control de movimiento de robot hexápodo en una arquitectura FPGA

Published:2019-09-30 Issue: Volume: Page:18-25
ISSN:2410-3454
Container-title:Revista de Aplicaciones de la Ingeniería
language:es
Short-container-title:JEA

Author:

Ibarra-Bonilla Mariana Natalia¹^ORCID,Sánchez-Texis Fernando¹^ORCID,Eusebio-Grande Raúl¹^ORCID,Quiñones-Novelo Fernando Julián²^ORCID

Affiliation:

1. Instituto Tecnológico Superior de Atlixco

2. Intesc Electrónica & Embebidos

Abstract

A hexapod robot control system hardware architecture is presented. The control system is integrated in an FPGA XC6SLX16-Spartan6. The design is developed using hardware description language, VHDL. A robust architecture, divided into three logical state machine blocks, is implemented in the FPGA. Block one consists of a serial communication system for the information interchange between the user and the FPGA. The second block corresponds to the sequential circuit and data manager in charge of controlling the functions of the entire architecture. The third block is an 18-channel PWM pulse generator with a progressive duty cycle change control to perform robot movements. The system is designed to allow the user to download a complex movements sequence by combining different positions and waiting times. The architecture allows to save up to 10 movements different sequences in the internal memory block. Additionally, it allows modifying any sequence in real time, without affecting the robot operation. The architecture controls 18 servomotors allowing 18 degrees of freedom to the robot. The performing and movement test of the robot are presented.

Publisher

ECORFAN

Reference12 articles.

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