TY - GEN
T1 - Robot Control with Wideband Acceleration Control Embedded on Programmable SoC
AU - Kurumatani, Hiroki
AU - Katsura, Seiichiro
N1 - Funding Information:
This work was partially supported by JSPS KAKENHI Grant Number 18H03784.
Publisher Copyright:
© 2019 IEEE.
PY - 2019/10
Y1 - 2019/10
N2 - 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.
AB - 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.
KW - FPGA
KW - Motion control
KW - robot control
UR - http://www.scopus.com/inward/record.url?scp=85083992794&partnerID=8YFLogxK
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U2 - 10.1109/IECON.2019.8927216
DO - 10.1109/IECON.2019.8927216
M3 - Conference contribution
AN - SCOPUS:85083992794
T3 - IECON Proceedings (Industrial Electronics Conference)
SP - 5338
EP - 5343
BT - Proceedings
PB - IEEE Computer Society
T2 - 45th Annual Conference of the IEEE Industrial Electronics Society, IECON 2019
Y2 - 14 October 2019 through 17 October 2019
ER -