FPGA-Based Hexapod Robot Controller

Chong, Yoon Soon (2016) FPGA-Based Hexapod Robot Controller. Project Report. UTeM, Melaka, Malaysia. (Submitted)

Text (24 Pages) FPGA-Based Hexapod Robot Controller.pdf - Submitted Version Download (263kB)

Abstract

Field Programmable Gate Array is widely applied and is more preferable for robot platform as the major requirement is the massive reconfigurable capability. Conventional implementation of multiple servo motors would require multiple chip setups such as master-slave configuration or I/O expansion. However, by using FPGA, the single chip FPGA system is able to control all the movement of the servo motors. FPGAs use dedicated hardware for processing logic and due to the parallel paths processing, different operations do not have to compete for the same processing resources. Hence, the speed can be very fast indeed, and multiple control loops can be run on a single FPGA device at different rates. In this project, the Hexapod Robot is a six-legged robot whereby each leg consists of 3 servo motors which work as a driving mechanism for the movement. The gait controller is developed to synchronize the position and direction of the servo motor at every state of movement. The main focal point of this project is to control and improve the generation of PWM signals on the servomechanism by using FPGA based system. Furthermore, the hexapod robot is developed to achieve several movements such as standing, forward and reverse.

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