FPGA implementation of a robot control algorithm

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

Research output: Chapter in Book/Report/Conference proceedingConference 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 languageEnglish
Title of host publicationProceedings - 2019 24th IEEE International Conference on Emerging Technologies and Factory Automation, ETFA 2019
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1571-1574
Number of pages4
ISBN (Electronic)9781728103037
DOIs
Publication statusPublished - Sep 2019
Externally publishedYes
Event24th IEEE International Conference on Emerging Technologies and Factory Automation, ETFA 2019 - Zaragoza, Spain
Duration: Sep 10 2019Sep 13 2019

Publication series

NameIEEE International Conference on Emerging Technologies and Factory Automation, ETFA
Volume2019-September
ISSN (Print)1946-0740
ISSN (Electronic)1946-0759

Conference

Conference24th IEEE International Conference on Emerging Technologies and Factory Automation, ETFA 2019
Country/TerritorySpain
CityZaragoza
Period9/10/199/13/19

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

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