Robot Control with Wideband Acceleration Control Embedded on Programmable SoC

摘要

The robot controller using the wideband acceleration controller embedded on a programmable system-on-a-chip (PSoC) is presented. Since the robot controller requires to execute both fast and complex processing, a standalone stored-program machine or a field programmable gate array (FPGA) provide an insufficient platform. The PSoC prepares freedoms for platform design and it enables to overcome existing restrictions. Herewith, appropriate task-partitioning is essential to elicit performance. Concretely, high tracking performance and tolerance are ensured by a fast controller, and dexterity of motion by a generic controller. By checking and examining a control architecture in detail, the preferred task-partition is derived. Eventually, an acceleration controller was implemented on the FPGA and a computing-torque method was on the stored-program machine. For verification, positioning of the robot was conducted and high tracking performance was confirmed.