Field Programmable Gate Arrays Based Real Time Robot Arm Inverse Kinematic Calculations and Visual Servoing

Barış ÇELİK; Ayça AK; Vedat TOPUZ

Makale detayları

Field Programmable Gate Arrays Based Real Time Robot Arm Inverse Kinematic Calculations and Visual Servoing

Yazarlar:

Barış ÇELİK | Ayça AK | Vedat TOPUZ

Yayıncı:

İstanbul University-Cerrahpasa

Ana Başlıklar:

Uygulamalı fizik

Dergi:

Electrica 2018 Vol.18 Issue 2, pp.143-150

Belge Tipi:

Makale

Yayın Tarihi:

8/2018

Belge Dili:

İngilizce

Document ID (Org No.):

2000777578

Sıklık:

İki Yıllık

eISSN:

2619-9831

Anahtar kelimeler:

Özet:

 


DOI: 10.26650/electrica.2018.49877

Reliability and precision are very important in space, medical, and industrial robot control applications. Recently, researchers have tried to increase the reliability and precision of the robot control implementations. High precision calculation of inverse kinematic, color based object recognition, and parallel robot control based on field programmable gate arrays (FPGA) are combined in the proposed system. The precision of the inverse kinematic solution is improved using the coordinate rotation digital computer (CORDIC) algorithm based on double precision floating point number format. Red, green, and blue (RGB) color space is converted to hue saturation value (HSV) color space, which is more convenient for recognizing the object in different illuminations. Moreover, to realize a smooth operation of the robot arm, a parallel pulse width modulation (PWM) generator is designed. All applications are simulated, synthesized, and loaded in a single FPGA chip, so that the reliability requirement is met. The proposed method was tested with different objects, and the results prove that the proposed inverse kinematic calculations have high precision and the color based object recognition is quite successful in finding coordinates of the objects. 

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DOI:
10.26650/electrica.2018.49877

Reliability and precision are very
important in space, medical, and industrial robot control applications.
Recently, researchers have tried to increase the reliability and precision of
the robot control implementations. High precision calculation of inverse
kinematic, color based object recognition, and parallel robot control based on
field programmable gate arrays (FPGA) are combined in the proposed system. The
precision of the inverse kinematic solution is improved using the coordinate
rotation digital computer (CORDIC) algorithm based on double precision floating
point number format. Red, green, and blue (RGB) color space is converted to hue
saturation value (HSV) color space, which is more convenient for recognizing
the object in different illuminations. Moreover, to realize a smooth operation
of the robot arm, a parallel pulse width modulation (PWM) generator is
designed. All applications are simulated, synthesized, and loaded in a single
FPGA chip, so that the reliability requirement is met. The proposed method was
tested with different objects, and the results prove that the proposed inverse
kinematic calculations have high precision and the color based object
recognition is quite successful in finding coordinates of the objects. 


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Makale detayları

Field Programmable Gate Arrays Based Real Time Robot Arm Inverse Kinematic Calculations and Visual Servoing

Yazarlar:

Barış ÇELİK | Ayça AK | Vedat TOPUZ

Yayıncı:

İstanbul University-Cerrahpasa

Ana Başlıklar:

Uygulamalı fizik

Dergi:

Electrica 2018 Vol.18 Issue 2, pp.143-150

Belge Tipi:

Makale

Yayın Tarihi:

8/2018

Belge Dili:

İngilizce

Document ID (Org No.):

2000777578

Sıklık:

İki Yıllık

eISSN:

2619-9831

Video processing

robot arm control

inverse kinematic

CORDIC Algorithm

field programmable gate arrays

Sayı

Makale detayları

Field Programmable Gate Arrays Based Real Time Robot Arm Inverse Kinematic Calculations and Visual Servoing

Yazarlar: Barış ÇELİK | Ayça AK | Vedat TOPUZ

Yayıncı: İstanbul University-Cerrahpasa

Ana Başlıklar: Uygulamalı fizik

Dergi: Electrica 2018 Vol.18 Issue 2, pp.143-150

Belge Tipi: Makale

Yayın Tarihi: 8/2018

Belge Dili: İngilizce

Document ID (Org No.): 2000777578

Sıklık: İki Yıllık

eISSN: 2619-9831

Video processing

robot arm control

inverse kinematic

CORDIC Algorithm

field programmable gate arrays

Sayı

Yazarlar:

Barış ÇELİK | Ayça AK | Vedat TOPUZ

Yayıncı:

İstanbul University-Cerrahpasa

Ana Başlıklar:

Uygulamalı fizik

Dergi:

Electrica 2018 Vol.18 Issue 2, pp.143-150

Belge Tipi:

Makale

Yayın Tarihi:

8/2018

Belge Dili:

İngilizce

Document ID (Org No.):

2000777578

Sıklık:

İki Yıllık

eISSN:

2619-9831