Implementation of Control Algorithms in a System-on-a-Programmable-Chip

Abstract

The paper presents problems related to implementation of control algorithms in FPGA. Proposed solution is based on system-on-programmable-chip architecture with soft-processor that allows for mixed, hardware/software implementation and exploration of possible control algorithm realizations. The case study is a neural controller for 3-DOF parallel robot for milling. The controller is based on neural model of the inverse dynamics of the manipulator, trained on data collected with the use of a computed torque stabilizing controller. For comparison, both controllers were implemented in a system of the same architecture