FPGA implementation of a robot control algorithm

Yusuke Takaki; Kohei Nagasu; Shin Abiko; Minoru Watanabe; Kentaro Sano

doi:10.1109/ETFA.2019.8869217

FPGA implementation of a robot control algorithm

Yusuke Takaki, Kohei Nagasu, Shin Abiko, Minoru Watanabe, Kentaro Sano

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Abstract

Robot control operation is always implemented onto a processor-based embedded system. However, if a robot operation was implemented onto an FPGA as hardware operation, the robot operation could be accelerated. Since currently high-level synthesis tool is available, a C++ designed operation can easily be translated onto the corresponding FPGA hardware. In this paper, we present the hardware implementation of control algorithm of a robot with 6 legs on an Arria10 SOC field programmable gate array using Cyber Work Bench as a high-level synthesis tool.

Original language	English
Title of host publication	Proceedings - 2019 24th IEEE International Conference on Emerging Technologies and Factory Automation, ETFA 2019
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	1571-1574
Number of pages	4
ISBN (Electronic)	9781728103037
DOIs	https://doi.org/10.1109/ETFA.2019.8869217
Publication status	Published - Sep 2019
Externally published	Yes
Event	24th IEEE International Conference on Emerging Technologies and Factory Automation, ETFA 2019 - Zaragoza, Spain Duration: Sep 10 2019 → Sep 13 2019

Publication series

Name	IEEE International Conference on Emerging Technologies and Factory Automation, ETFA
Volume	2019-September
ISSN (Print)	1946-0740
ISSN (Electronic)	1946-0759

Conference

Conference	24th IEEE International Conference on Emerging Technologies and Factory Automation, ETFA 2019
Country/Territory	Spain
City	Zaragoza
Period	9/10/19 → 9/13/19

Keywords

Field programmable gate arrays (FPGAs)
Very large scale integrations (VLSIs)

ASJC Scopus subject areas

Electrical and Electronic Engineering
Control and Systems Engineering
Industrial and Manufacturing Engineering
Computer Science Applications

Access to Document

10.1109/ETFA.2019.8869217

Cite this

Takaki, Y., Nagasu, K., Abiko, S., Watanabe, M., & Sano, K. (2019). FPGA implementation of a robot control algorithm. In Proceedings - 2019 24th IEEE International Conference on Emerging Technologies and Factory Automation, ETFA 2019 (pp. 1571-1574). [8869217] (IEEE International Conference on Emerging Technologies and Factory Automation, ETFA; Vol. 2019-September). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ETFA.2019.8869217

FPGA implementation of a robot control algorithm. / Takaki, Yusuke; Nagasu, Kohei; Abiko, Shin; Watanabe, Minoru; Sano, Kentaro.

Proceedings - 2019 24th IEEE International Conference on Emerging Technologies and Factory Automation, ETFA 2019. Institute of Electrical and Electronics Engineers Inc., 2019. p. 1571-1574 8869217 (IEEE International Conference on Emerging Technologies and Factory Automation, ETFA; Vol. 2019-September).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Takaki, Y, Nagasu, K, Abiko, S, Watanabe, M & Sano, K 2019, FPGA implementation of a robot control algorithm. in Proceedings - 2019 24th IEEE International Conference on Emerging Technologies and Factory Automation, ETFA 2019., 8869217, IEEE International Conference on Emerging Technologies and Factory Automation, ETFA, vol. 2019-September, Institute of Electrical and Electronics Engineers Inc., pp. 1571-1574, 24th IEEE International Conference on Emerging Technologies and Factory Automation, ETFA 2019, Zaragoza, Spain, 9/10/19. https://doi.org/10.1109/ETFA.2019.8869217

Takaki Y, Nagasu K, Abiko S, Watanabe M, Sano K. FPGA implementation of a robot control algorithm. In Proceedings - 2019 24th IEEE International Conference on Emerging Technologies and Factory Automation, ETFA 2019. Institute of Electrical and Electronics Engineers Inc. 2019. p. 1571-1574. 8869217. (IEEE International Conference on Emerging Technologies and Factory Automation, ETFA). https://doi.org/10.1109/ETFA.2019.8869217

Takaki, Yusuke ; Nagasu, Kohei ; Abiko, Shin ; Watanabe, Minoru ; Sano, Kentaro. / FPGA implementation of a robot control algorithm. Proceedings - 2019 24th IEEE International Conference on Emerging Technologies and Factory Automation, ETFA 2019. Institute of Electrical and Electronics Engineers Inc., 2019. pp. 1571-1574 (IEEE International Conference on Emerging Technologies and Factory Automation, ETFA).

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FPGA implementation of a robot control algorithm

Abstract

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Keywords

ASJC Scopus subject areas

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