Design of advanced motion command generators utilizing FPGA

Download

index.pdf

Date

2010

Author

Yaman, Ulaş

Metadata

Show full item record

Item Usage Stats

127
views

65
downloads

In this study, universal motion command generator systems utilizing a Field Programmable Gate Array (FPGA) and an interface board for Robotics and Computer Numerical Control (CNC) applications have been developed. These command generation systems can be classified into two main groups as polynomial approximation and data compression based methods. In the former type of command generation methods, the command trajectory is firstly divided into segments according to the inflection points. Then, the segments are approximated using various polynomial techniques. The sequence originating from modeling error can be further included to the generated series. In the second type, higher-order differences of a given trajectory (i.e. position) are computed and the resulting data are compressed via lossless data compression techniques. Besides conventional approaches, a novel compression algorithm is also introduced in the study. This group of methods is capable of generating trajectory data at variable rates in forward and reverse directions. The generation of the commands is carried out according to the feed-rate (i.e. the speed along the trajectory) set by the external logic dynamically. These command generation techniques are implemented in MATLAB and then the best ones from each group are realized using FPGAs and their performances are assessed according to the resources used in the FPGA chip, the speed of command generation, and the memory size in Static Random Access Memory (SRAM) chip located on the development board.

Subject Keywords

Mechanical engineering., Linear Interpolation., Control engineering systems., Automatic machinery.

URI

http://etd.lib.metu.edu.tr/upload/3/12612054/index.pdf
https://hdl.handle.net/11511/19695

Collections

Graduate School of Natural and Applied Sciences, Thesis

Suggestions

OpenMETU
Core

Design, fabrication and implementation of a vibration based mems energy scavenger for wireless microsystems Sarı, İbrahim; Balkan, Raif Tuna; Department of Mechanical Engineering (2008) This thesis study presents the design, simulation, micro fabrication, and testing steps of microelectromechanical systems (MEMS) based electromagnetic micro power generators. These generators are capable of generating power using already available environmental vibrations, by implementing the electromagnetic induction technique. There are mainly two objectives of the study: (i) to increase the bandwidth of the traditional micro generators and (ii) to improve their efficiency at low frequency environmental v...
Universal command generator for robotics and cnc machinery Akıncı, Arda; Dölen, Melik; Department of Mechanical Engineering (2009) In this study a universal command generator has been designed for robotics and CNC machinery. Encoding techniques has been utilized in order to represent the commands and their efficiencies have been discussed. The developed algorithm generates the trajectory of the end-effector with linear and circular interpolation in an offline fashion, the corresponding joint states and their error envelopes are computed with the utilization of a numerical inverse kinematic solver with a predefined precision. Finally, t...
An asynchronous system design and implementation of an FPGA Ayyıldız, Nizam; Güran, Hasan; Department of Electrical and Electronics Engineering (2006) Field Programmable Gate Arrays (FPGAs) are widely used in prototyping digital circuits. However commercial FPGAs are not very suitable for asynchronous design. Both the architecture of the FPGAs and the synthesis tools are mostly tailored to synchronous design. Therefore potential advantages of the asynchronous circuits could not be observed when they are implemented on commercial FPGAs. This is shown by designing an asynchronous arithmetic logic unit (ALU), implemented in the style of micropipelines, on th...
A programmable control unit for industrial applications Güngör, Mustafa Kemal; Hızal, Mirzahan; Department of Electrical and Electronics Engineering (2003) In this thesis, the automation of the long term and cyclic processes by using a programmable control unit is aimed. To achieve this goal, timing relays and various microcontrollers are investigated. PIC microcontroller is chosen to implement the control unit due to its advantages like high speed, Harvard and RISC architecture, low cost and flexibility for programming. Theory of the PIC microcontrollers is studied and a controller unit to be used in the mentioned processes is designed. Some features are adde...
Design of an integrated hardware-in-the-loop simulation system Üşenmez, Serdar; Koku, A. Buğra; Department of Mechanical Engineering (2010) This thesis aims to propose multiple methods for performing a hardware-in-the-loop simulation, providing the hardware and software tools necessary for design and execution. For this purpose, methods of modeling commonly encountered dynamical system components are explored and techniques suitable for calculating the states of the modeled system are presented. Modules and subsystems that enable the realization of a hardware-in-the-loop simulation application and its interfacing with external controller hardwa...

Citation Formats

U. Yaman, “Design of advanced motion command generators utilizing FPGA,” M.S. - Master of Science, Middle East Technical University, 2010.