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Design of advanced motion command generators utilizing FPGA

Yaman, Ulaş
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.