Author_Institution :
Dept. of Comput. Sci. & Eng., Univ. of California at San Diego, La Jolla, CA
Abstract :
This paper presents the design and implementation of a multiple-axis motion control chip using a field-programmable gate array (FPGA). This multiple-axis motion control chip is designed to control a multiple-axis motion system such as a robotic arm manipulator or a computer numerical control machine. The proposed motion control chip has many functions. These include velocity profile generation, interpolation calculation, inverse kinematics calculation, proportional-integral-derivative control, feedback count, pulse integration, data conversion, clock generation, and external interfacing. These functions are designed using the VHSIC hardware description language and implemented on an FPGA according to the electronic design automation design methodology. This allows for a highly sampled, accurate, flexible, compact, low-power, and low-cost motion control system. The detailed design of the proposed motion control chip is presented. A multiple-axis motion control system using this chip is implemented, and its performance is measured. The multiple-axis motion control system is implemented on a platform consisting of a chip-based multiple-axis motion controller, analog ac servo drivers, a selective compliant assembly robot arm robot, and a host personal computer.
Keywords :
feedback; field programmable gate arrays; integrated circuit design; interpolation; microprocessor chips; motion control; FPGA-based multiple-axis motion control chip; VHSIC hardware description language; analog ac servo drivers; clock generation; computer numerical control machine; data conversion; electronic design automation design methodology; external interfacing; feedback count; field-programmable gate array; interpolation calculation; inverse kinematics calculation; proportional-integral-derivative control; pulse integration; robotic arm manipulator; velocity profile generation; Field-programmable gate arrays; VHSIC hardware description language (VHDL); manipulators; motion control; multiple-axis motion;