Balance of a hexapod in real time using a FPGA

摘要

This paper is a review of a project that was done to get the balance of a hexapod robot. This robot was programmed with the help of the device NI myRIO-1900 embedded hardware. The robot was developed to be adapted to any type of surface, considering the angle at the device is located. To know the angle of inclination of the robot, it was necessary to use the accelerometer that the device NI myRIO-1900 has included. Data acquisition and handling of the servomotors that the hexapod has and the variation of the angles was performed in the FPGA Xilinix Z-7010. By using the FPGA was obtained the processing in real time of each one of the variables used.