Loading…
FPGA in the loop implementation of the PUMA 560 robot based on backstepping control
The objective of this article is to present the implementation of a backstepping control regulator on a Xilinx Zedboard Zynq FPGA using the HDL Coder tool through the FPGA in-the-loop option, and to study its effectiveness when applied to a three-dimensional robotic manipulator model. The analysis i...
Saved in:
Main Authors: | , , , , , , |
---|---|
Format: | Article |
Language: | English |
Online Access: | Request full text |
Tags: |
Add Tag
No Tags, Be the first to tag this record!
|
Summary: | The objective of this article is to present the implementation of a backstepping control regulator on a Xilinx Zedboard Zynq FPGA using the HDL Coder tool through the FPGA in-the-loop option, and to study its effectiveness when applied to a three-dimensional robotic manipulator model. The analysis is based on the application of the backstepping control law for the three degrees of freedom PUMA 560 model, through the development of a dynamic simulation model. The results of practical implementation using the FPGA in the loop technique demonstrate the effectiveness of the proposed method using the Xilinx Zedboard Zynq FPGA, which provides a useful insight into the benefits of using backstepping control laws in robotics applications. |
---|