Hexapod Controller Using Microprocessor Core In FPGA

Izzat, Akmal Shariff (2014) Hexapod Controller Using Microprocessor Core In FPGA. Project Report. UTeM, Melaka, Malaysia. (Submitted)

Text (24 pages) Hexapod Controller Using Microprocessor Core In FPGA 24 Pages.pdf - Submitted Version Download (153kB)

Abstract

The design and implementation of the soft-core processor in FPGA is developed to control Hexapod robot. In many applications, the soft-core processors provide several advantages over the custom designed processors such as reduced cost, flexibility, platform independence and greater immunity to obsolescence, but the main reason of implementing soft-core processor in FPGA for this project is to provide an option in modifying the I/O layout and the internal architecture without replacing the microcontroller board. The conventional microcontroller in Hexapod controller is too rigid and lack of flexibility when dealing with expansion and modification of Hexapod robot. Firstly, this project will determine the Hexapod robot movement by using gait analysis and analyze the optimum movement positioning of each servo motor. Then to control algorithm is incorporated into the processor program which is executed in FPGA. After that, this project will go through with designing 8-bit RISC processor. The obtain data will convert into a program code by using Xilinx software then it will implement into FPGA chip. The implementation of algorithms in soft-core processor offered better synchronization between the entire servomotor movements. A programming method of the soft-core is exactly the same with the conventional processor although it offered flexibility in extending the processor architecture to accommodate new input and output or other features. The significant implication of this project by combining the best of both worlds between microcontroller advantages in executing an instruction sequence efficiently and reconfigure features in FPGA.

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