Design and implementation of an FPGA-based motion command generation chip

Ke Han Su, Chih Kuan Hu, Ming Yang Cheng

Research output: Chapter in Book/Report/Conference proceedingConference contribution

8 Citations (Scopus)

Abstract

This study is aimed at developing a motion control command generation chip that can be used to perform acceleration/deceleration motion planning for general point-to-point motion applications. Instead of using the complex polynomial type method, the digital convolution method is adopted to implement trapezoidal and S-curve motion planning. In addition, the Digital Difference Analyzer (DDA) technique is employed to generate the output pulse. Moreover, in order to deal with the error in the number of output pulses when applied to point-to-point motions, a real-time output pulse compensation algorithm is developed to make sure that no output pulse error will occur. This study adopts a programmable hardware structure, in which both the Acc/Dec motion planning and DDA are implemented in an FPGA chip using VHDL for fast hardware verification.

Original languageEnglish
Title of host publication2006 IEEE International Conference on Systems, Man and Cybernetics
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages5030-5035
Number of pages6
ISBN (Print)1424401003, 9781424401000
DOIs
Publication statusPublished - 2006 Jan 1
Event2006 IEEE International Conference on Systems, Man and Cybernetics - Taipei, Taiwan
Duration: 2006 Oct 82006 Oct 11

Publication series

NameConference Proceedings - IEEE International Conference on Systems, Man and Cybernetics
Volume6
ISSN (Print)1062-922X

Other

Other2006 IEEE International Conference on Systems, Man and Cybernetics
Country/TerritoryTaiwan
CityTaipei
Period06-10-0806-10-11

All Science Journal Classification (ASJC) codes

  • Engineering(all)

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