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Resumo(s)
This work describes the development and implementation of a linear trajectory controller in a five
degree of freedom (DOF) robot manipulator (Filho and Quintero 2013). An open loop control
architecture was designed and embedded in a Field Programable Gate Array (FPGA), for the first threeDOF. In this paper, we present the direct and inverse kinematics and the Jacobian of the manipulator,
used to extract the control equations of the system (Motta, Llanos-Quintero, and Coral Sampaio 2016).
This model aims the trajectory planning in a rectilinear path, described in Cartesian Coordinates. For
the control implementation embedded in the FPGA, was used the NIOS II microprocessor. This one is
responsible for the path planning and for the speed control of the manipulator joints, with some
accelerated functions in hardware. The validation of the equations and path planning were done using
software simulation. The final structure and experiments of the manipulator are also presented.
Descrição
Best poster presentation Award
3rd Doctoral Congress in Engineering will be held at FEUP on the 27th to 28th of June, 2019
3rd Doctoral Congress in Engineering will be held at FEUP on the 27th to 28th of June, 2019
Palavras-chave
Robotics FPGA Manipulators Embedded Circuits Kinematics