Field Programmable Gate Arrays Based Real Time Robot Arm Inverse Kinematic Calculations and Visual Servoing

Yıl 2018, Cilt: 18 Sayı: 2, 143 - 150, 03.08.2018

Barış Çelik , Ayça Ak Vedat Topuz

Öz

DOI: 10.26650/electrica.2018.49877

Reliability and precision are very important in space, medical, and industrial robot control applications. Recently, researchers have tried to increase the reliability and precision of the robot control implementations. High precision calculation of inverse kinematic, color based object recognition, and parallel robot control based on field programmable gate arrays (FPGA) are combined in the proposed system. The precision of the inverse kinematic solution is improved using the coordinate rotation digital computer (CORDIC) algorithm based on double precision floating point number format. Red, green, and blue (RGB) color space is converted to hue saturation value (HSV) color space, which is more convenient for recognizing the object in different illuminations. Moreover, to realize a smooth operation of the robot arm, a parallel pulse width modulation (PWM) generator is designed. All applications are simulated, synthesized, and loaded in a single FPGA chip, so that the reliability requirement is met. The proposed method was tested with different objects, and the results prove that the proposed inverse kinematic calculations have high precision and the color based object recognition is quite successful in finding coordinates of the objects. 

Anahtar Kelimeler

Video processing, robot arm control, inverse kinematic, CORDIC Algorithm, field programmable gate arrays

Field Programmable Gate Arrays Based Real Time Robot Arm Inverse Kinematic Calculations and Visual Servoing

Öz

DOI:
10.26650/electrica.2018.49877

Reliability and precision are very
important in space, medical, and industrial robot control applications.
Recently, researchers have tried to increase the reliability and precision of
the robot control implementations. High precision calculation of inverse
kinematic, color based object recognition, and parallel robot control based on
field programmable gate arrays (FPGA) are combined in the proposed system. The
precision of the inverse kinematic solution is improved using the coordinate
rotation digital computer (CORDIC) algorithm based on double precision floating
point number format. Red, green, and blue (RGB) color space is converted to hue
saturation value (HSV) color space, which is more convenient for recognizing
the object in different illuminations. Moreover, to realize a smooth operation
of the robot arm, a parallel pulse width modulation (PWM) generator is
designed. All applications are simulated, synthesized, and loaded in a single
FPGA chip, so that the reliability requirement is met. The proposed method was
tested with different objects, and the results prove that the proposed inverse
kinematic calculations have high precision and the color based object
recognition is quite successful in finding coordinates of the objects. 

Anahtar Kelimeler

Video processing, robot arm control, inverse kinematic, CORDIC Algorithm, field programmable gate arrays

Kaynakça

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