FPGA EMBEDDED PD CONTROL OF A 1 DOF MANIPULATOR WITH A PNEUMATIC ACTUATOR

Abstract

Solutions based on field programmable gate array (FPGA) technology have gained relevance in industrial applications for position and speed control of electrical actuators. However, FPGA-based controllers have a broad scope of applications using pneumatic components such as the development of robotic manipulators with pneumatic actuators. The novelty of this work is the implementation of a pneumatic PD control embedded into an FPGA, which is applied to move a one-degree-of-freedom robot manipulator. As a result, a PD control embedded in FPGA was used to control the pneumatic actuator manipulator with satisfactory behaviour.