Multi-degree Robot Arm Control System Using ARM and FPGA
|School||East China University of Science and Technology|
|Course||Control Science and Engineering|
|Keywords||Arm Control System Vision System Position Control ARM FPGA|
In recent years, robot arm is widely used in industry control, special robot, medical device and home service robots. Research of robot arm control system is a focus in robot area. It is meaningful to increase the performance in accuracy, stability and feasibility.In this paper, a new structure of arm control system based on ARM and FPGA micro-processors is proposed, which has some characters comparing to most of the existing manipulator control system characterized by system complexity, high cost, high design complexity and big size. With the controlling requirements, robot arm control system is using ARM and FPGA integrated design approach, which can complete the various operations of arm excellently and optimize the traditional system structure, advance the control functions and give more extend interfaces. This system will be satisfied the existing small and medium sized manipulators control. And the system adopts the modular design, including PC controlling and monitoring software, the core of arm control module, motor and sensors control module, which make the every module function clearly defined and easy to design and maintain. The system has a friendly interface which not only to provide simple, convenient arm mode of operation and also can realize the arm automatic running by just only need to configuration key trajectory position points. The visual module adopts the serial camera, which can send JPEG images directly to monitor. This saves a lot program execution space in image encode and decode. From the result of manual mode and reciprocating mode of arm operate, it shows that this control system can well meet the stability, accuracy and other requirements of arm during the operation.