Embedded FPGA-based Motion Planning and Control of a Dual-arm Car-like Robot

摘要

Dual-arm robotic applications require efficient tra-jectory control to establish a precise arm movement sequence to execute multiple tasks accurately. This paper presents a mul-tiprocessor implementation of the Lyapunov-based acceleration controllers using the field-programmable gate array (FPGA) on a General Purpose Processor (GPP) to solve the motion planning and control problem of a dual-arm car-like mobile robot. First, the dual-arm system's kinematic model and FPGA-based motion control are developed. Then, a dual-step algorithm is utilized to move the car-like base from an initial position to its pseudo-target and, secondly, maneuver the front and rear end-effectors to their designated targets, taking into account the restrictions and limitations of the revolute links and the steering control laws of the system. Finally, the computer simulations verify the effectiveness of the proposed method and the proposed control inputs. The innovative dual-arm technique presented in this study can potentially have real-world applications in smart city environments, particularly in the waste management and garbage collection sectors.