Robot Control with Wideband Acceleration Control Embedded on Programmable SoC

Hiroki Kurumatani, Seiichiro Katsura

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

Abstract

The robot controller using the wideband acceleration controller embedded on a programmable system-on-a-chip (PSoC) is presented. Since the robot controller requires to execute both fast and complex processing, a standalone stored-program machine or a field programmable gate array (FPGA) provide an insufficient platform. The PSoC prepares freedoms for platform design and it enables to overcome existing restrictions. Herewith, appropriate task-partitioning is essential to elicit performance. Concretely, high tracking performance and tolerance are ensured by a fast controller, and dexterity of motion by a generic controller. By checking and examining a control architecture in detail, the preferred task-partition is derived. Eventually, an acceleration controller was implemented on the FPGA and a computing-torque method was on the stored-program machine. For verification, positioning of the robot was conducted and high tracking performance was confirmed.

Original languageEnglish
Title of host publicationProceedings
Subtitle of host publicationIECON 2019 - 45th Annual Conference of the IEEE Industrial Electronics Society
PublisherIEEE Computer Society
Pages5338-5343
Number of pages6
ISBN (Electronic)9781728148786
DOIs
Publication statusPublished - 2019 Oct
Event45th Annual Conference of the IEEE Industrial Electronics Society, IECON 2019 - Lisbon, Portugal
Duration: 2019 Oct 142019 Oct 17

Publication series

NameIECON Proceedings (Industrial Electronics Conference)
Volume2019-October

Conference

Conference45th Annual Conference of the IEEE Industrial Electronics Society, IECON 2019
CountryPortugal
CityLisbon
Period19/10/1419/10/17

Keywords

  • FPGA
  • Motion control
  • robot control

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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  • Cite this

    Kurumatani, H., & Katsura, S. (2019). Robot Control with Wideband Acceleration Control Embedded on Programmable SoC. In Proceedings: IECON 2019 - 45th Annual Conference of the IEEE Industrial Electronics Society (pp. 5338-5343). [8927216] (IECON Proceedings (Industrial Electronics Conference); Vol. 2019-October). IEEE Computer Society. https://doi.org/10.1109/IECON.2019.8927216