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Keywords: embedded system
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Proceedings Papers

FPGA-Based Implementation of Torque Controller for 6-DOF Articulated Robots

Phan Tan-Phat, Paul C.-P. Chao, Huang Zih-Wei
Proc. ASME. ISPS2021, ASME 2021 30th Conference on Information Storage and Processing Systems, V001T10A001, June 2–3, 2021
Paper No: ISPS2021-65255
DOI: https://doi.org/10.1115/ISPS2021-65255
... controller, and communication are included, the processing time of the FPGA is 16 μs. Meanwhile, the whole process of the system only takes 82 μs to complete. embedded system FPGA-based force/torque control PID algorithm high-speed controller noise cancellation anti-collision 6-DOF articulated...
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Topics: Algorithms, Control equipment, Noise (Sound), Robots, Torque