Embedded control of robot arm driven by Brushless DC motor on FPGA

Abstract

Robot manipulators are widely used in industries. The raised complexity of robot manipulators dynamics considering actuator part makes control strategies hard to be designed and verified. In fact, the design and the verification of the control strategies have achieved a special attention via Matlab Simulink environment tool. However, the high time simulation is an essential drawback of this tool due to the robotic system complexity. This paper proposes a Hardware Software In the Loop (HSIL) technique via FPGA board for the two degrees robot control driven by Brushless DC Motor (BDCM). This latter has shown its rapidity, high performances and low cost which represent a big challenge for power electronics systems especially in the robotic field.