Ali, M., Bahgat, A., Hamed, M., Youssef, A. (2016). Design and Implementation of FPGA-Based Robotic Arm Manipulator. test, 1(First International Undergraduate Research Conference, IUGRC), 85-85. doi: 10.21608/iugrc.2016.91241
Mohammed Ibrahim Mohammed Ali; Ahmed S. Bahgat; Mahmoud Safwat Hamed; Ahmed Medhat Youssef. "Design and Implementation of FPGA-Based Robotic Arm Manipulator". test, 1, First International Undergraduate Research Conference, IUGRC, 2016, 85-85. doi: 10.21608/iugrc.2016.91241
Ali, M., Bahgat, A., Hamed, M., Youssef, A. (2016). 'Design and Implementation of FPGA-Based Robotic Arm Manipulator', test, 1(First International Undergraduate Research Conference, IUGRC), pp. 85-85. doi: 10.21608/iugrc.2016.91241
Ali, M., Bahgat, A., Hamed, M., Youssef, A. Design and Implementation of FPGA-Based Robotic Arm Manipulator. test, 2016; 1(First International Undergraduate Research Conference, IUGRC): 85-85. doi: 10.21608/iugrc.2016.91241

Design and Implementation of FPGA-Based Robotic Arm Manipulator

The International Undergraduate Research Conference
Article 55, Volume 1, First International Undergraduate Research Conference, IUGRC, 2016, Pages 85-85    PDF (428.92 K)
Document Type: Original Article
DOI: 10.21608/iugrc.2016.91241
Authors
Mohammed Ibrahim Mohammed Ali1; Ahmed S. Bahgat2; Mahmoud Safwat Hamed3; Ahmed Medhat Youssef4
1Military Technical College, Cairo, Egypt.
2Engineering physics department, Military Technical College, Egypt.
3Electronic engineering department, Military Technical College, Egypt.
4Aircraft electric systems department Military Technical College, Egypt.
Abstract
Robotic arm manipulators have a wide variety of applications. It is the core of manufacturing process in all factories nowadays. In this paper, the design, implementation and control of modified design of a six degrees of freedom (DOF) LYNX-6 robotic arm FPGA-based controller is introduced. In LYNX-6 arm, the lengths of the arms are modified and we used FR4 material to achieve the lightweight requirements of the arm structure. LYNX-6 arm has 5 DOF plus a grip movement (5+1). It is also similar to human arm from the number of joints point of view. Servomotors are controlled by pulse-width modulated (PWM) signals that control the position of the servo actuator. To position the robotic arm in 3D space, the angle of each joint must be set. A MATLAB GUI is designed to pick the desired (X, Y, Z) coordinates from the user, check the robot domain , perform the inverse kinematics algorithm and send the angles data serially through wireless module to FPGA controller to generate the necessary pulse-width modulated signals for the motors. The controller architecture is implemented on a Xilinx spartan3 FPGA evaluation board using VHDL. FPGA with its large number of I/O pins and parallel processing capabilities is suitable for interfacing and controlling the six motors at the same time. The proposed FPGA-based controller offered flexible, standalone, and compact design with high system reliability [1, 2].
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