Motion control of a cartesian robot using a dual- core ARM cortex-A9 system-on-chip FPGA

摘要

Advanced applications require flexible and efficient hardware with good FESS characteristics. Therefore, we evaluate the ability of an Intel De0_Nano_SoC FPGA board with an embedded dual-core ARM Cortex-A9 Hard Processor System (HPS) in which an Ubuntu OS is run to drive a Cartesian robot. The robot, based on a standard CNC machine, was subjected to structural analysis through Solidworks software, indicating it is suitable to be used. Based on the mechanical structure of the robot the cinematic model was resolved, making possible development of an algorithm of trajectory generation which includes digital image processing, inverse kinematics, a spline and an efficient speed profile generator for stepper motors. The Matlab software was used in order to simulate mathematic models and for developing image processing functions taken later by an implemented Graphical User Interface (GUI) that makes possible a userfriendly interface between human and machine. Finally the results of the robot performance are showed in terms of Precision, Repeatability and Resolution.