An FPGA based robot controller design and implementation

Erkol H. O. , Demirel H.

10th International Conference on Intelligent Technologies in Logistics and Mechatronics Systems, ITELMS 2015, Panevezhys, Litvanya, 21 - 22 Mayıs 2015, ss.122-127 identifier identifier

  • Cilt numarası:
  • Basıldığı Şehir: Panevezhys
  • Basıldığı Ülke: Litvanya
  • Sayfa Sayıları: ss.122-127


In this study, a co-processor for six-legged robot is designed and implemented. Kinematic calculations are complicated and many times we need a separate computation unit when we need high accuracy and precision. Co-processor usage is widespread for decreasing the load on the main computation unit. The co-processor designed in this study is specialized for servo motors controlled via serial port. The co-processor takes and sends the command via serial port. It can compute the joint angels of an 18 degree of freedom (DOF) six-legged robot in real time. The experimental studies are made by computer and on a robot prototype and taken good results.