Commanding a robotic arm on serial interface using Linux operating system running on FPGA

Abstract

This paper presents a robotic arm control application on RS-232 serial interface. The control system of the robotic arm is an FPGA board with a command line Linux operating system installed. The operating system has the RS-232 driver, this way the system has to possibility to send SCPI commands to the robotic arm, this way controlling it. The whole system is an embedded system, where there is no need for PC, there is only the development board with FPGA and the robotic arm. Using this FPGA system also other equipments can be controlled not only on RS-232 interface, but on Ethernet or USB interfaces.