Abstract
Field-programmable gate arrays (FPGAs) and, recently, System on Chip (SoC) devices have been applied in a wide area of applications due to their flexibility for real-time implementations, increasing the processing capability on hardware as well as the speed of processing information in real-time. The most important applications based on FPGA/SoC devices are focused on signal/image processing, Internet of Things (IoT) technology, artificial intelligence (AI) algorithms, energy systems applications, automatic control and industrial applications. This paper develops a robot arm controller based on a programmable System-OnChip (SoC) device that combines the high-performance and flexibility of a CPU and the processing power of an FPGA. The CPU consists of a dual-core ARM processor that handles algorithm calculations, motion planning and manages communication and data manipulation. FPGA is mainly used to generate signals to control servo and read the feedback signals from encoders. Data from the ARM processor is transferred to the programmable logic side via the AXI protocol. This combination delivers superior parallel-processing and computing power, real-time performance and versatile connectivity. Additionally, having the complete controller on a single chip allows the hardware design to be simpler, more reliable, and less expensive.
Highlights
Because of the ability to perform dangerous, dirty and /or repetitive tasks with consistent precision and accur– acy, the industrial robot arm is increasingly used in a variety of industries and applications such as handling, palletizing, cutting, finishing, sealing and gluing, spraying, welding... [1,2,3,4,5,6].Controller is the core of an industrial robot arm system [7]
The ARM core is the master, slaves are modules designed on the Field-programmable gate arrays (FPGAs) side, which means one master interfaces with many slaves
The value of pulse width is sent from the ARM processor through AXI interconnect
Summary
Because of the ability to perform dangerous, dirty and /or repetitive tasks with consistent precision and accur– acy, the industrial robot arm is increasingly used in a variety of industries and applications such as handling, palletizing, cutting, finishing, sealing and gluing, spraying, welding... [1,2,3,4,5,6]. The core board contains two main chips: STM32F207 ARM processor and Itera cyclone II EP2C8Q208 FPGA chip The communication between these two chips is done by the FSMC (Flexible Static Memory Controller) technology which is a unique technology in STM32. This paper adopts IPC as the controller and FPGA as the core processor of the motion control board. The XC7Z020 devices are equipped with a dual-core ARM Cortex-A9 processor integrated with 28 nm Artix-7 based programmable logic for excellent performance-per-watt and maximum design flexibility. Because the motion control board synchronously controls six servo motors which requirea maximum frequency of up to 4Mpps, we utilize parallel computing to shorten the control cycle based on FPGA. The remainder of this paper is structured as follows: Section 2 introduces the trajectory planning and motion control algorithms to control the robot arm.
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