This paper aims to design an impedance position-based proportional-integral-derivative (PID) controller based on forward and inverse kinematics of HIWIN RA605 articulated robot, and Field-Programmable Gate Array (FPGA) implementation for a PID torque controller. In order to control the robot, the FPGA needs to output commands to communicate with the AC servo motor drivers. An FPGA-based controller for a 6-degree-of-freedom (DOF) articulated robot that implements several tasks such as hardware implementation, encoder counters, noise cancellation algorithm, analog generators, PID controller, and communication are included, the processing time of the FPGA is 16 μs. Meanwhile, the whole process of the system only takes 82 μs to complete.
Volume Subject Area:Tribology, Dynamics, and Servo Control of Nano-Micro Systems
Keywords:embedded system, FPGA-based, force/torque control, PID algorithm, high-speed controller, noise cancellation, anti-collision, 6-DOF articulated robots
Topics:Algorithms, Control equipment, Noise (Sound), Robots, Torque
This content is only available via PDF.
Copyright © 2021 by ASME