Hexapod Motor Controller Using FPGA

Mohamad Solehin, Mohamed Sunar (2014) Hexapod Motor Controller Using FPGA. Project Report. UTeM, Melaka, Malaysia. (Submitted)

Text (24 pages) Hexapod Motor Controller Using FPGA 24 Pages.pdf - Submitted Version Download (560kB)

Abstract

In this project, the Field Programmable Gate Array is developed for controlling the Hexapod Robot Motor. The single chip FPGA system is used to control all the motors in the movement of the Hexapod. Conventional implementation of multiple servo motor controllers would require a multiple chip setup such as master-slave configuration or I/O expansion. By using FPGA, only single chip IC is required to control multiple numbers of servomotors. The Hexapod robot is a six-legged robot with each leg consists of three servo motors that act as actuators for the movement. The gait controller is designed to synchronize the position of servomotor in relation to its current movement. The main focus of this project is directed to the servomechanism generation using FPGA based system. The Hexapod is capable to perform several movements such as standing, forward, reverse, strafe left and right and in diagonal. There are several types of gaits for the Hexapod robot, for example the pentapod gait, crab gait, and tripod gait. In this project, the Verilog HDL describes the movement mechanism and is implemented in Spartan-6 FPGA.

Actions (login required)

View Item