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FPGA
Realization of Forward Kinematics and Inverse Kinematics for Five-Axis
Articulated Robot Arm
Table
of Content
Acknowledgments
Abstract
摘要
Table
of Content
List
of Figures
List
of Tables
List
of Symbols
Chapter
1 Introduction
1.1
Research background & literature survey
1.2
The motivation of the study
1.3
The structure of thesis
Chapter
2 Mathematical description of kinematics and motion trajectories planning
2.1
Introduction of five-axis articulated robot arm
2.2
Review of kinematics
2.2.1
Rotating coordinate system
2.2.2
Homogeneous coordinates
2.2.3
Coordinates architecture
2.2.4
Rotary joint coordinates architecture
2.3
Robot kinematics of five-axis articulated robot arm
2.3.1
Forward kinematics
2.3.2
Inverse kinematics
2.4
The computation of point-to-point motion control
2.4.1
Five axes trajectory planning
2.4.2
The formulas of motion trajectories
2.4.2.1
Linear motion trajectory
2.4.2.2
Circular motion trajectory
2.4.2.3
Star motion trajectory
2.4.2.4
Window motion trajectory
Chapter
3 Hardware implementation of forward kinematics and inverse kinematics
3.1
Introduction and literature review
3.2
Review of VHDL and Q-format design
3.3
An example of Sum of Product
3.4
Trigonometric functions
3.4.1
Computation algorithm of Sine and Cosine functions
3.4.2
Computation algorithm of Arctangent function using Taylor series expansion
3.4.3
Computation of Arccosine function using Taylor series expansion method
3.5
Design of hardware implementation for forward kinematics and inverse kinematics
3.5.1
Forward kinematics and inverse kinematics design in VHDL using Q-format
3.5.2
FSM for forward kinematics and inverse kinematics Chapter 4 Modelsim/Simulink
co-simulation of forward/inverse kinematics for five-axis articulated
robot
arm
4.1
Introduction of Modelsim/Simulink co-simulation
4.2
Co-Simulation cases using Modelsim/ Simulink
4.2.1
Sum of Product simulation results
4.2.2
Sine and cosine functions co-simulation results
4.2.3
Arctangent and arccosine functions co-simulation results
4.3
Modelsim/Simulink co-simulation of forward/inverse kinematics
4.4
Simulation results in Modelsim/Simulink of tracking motion trajectories
4.4.1
Linear motion trajectory
4.4.2
Circular motion trajectory
4.4.3
Star motion trajectory
4.4.4
Window motion trajectory
Chapter
5 FPGA realization of forward/inverse kinematics for five-axis articulated
robot arm
5.1
Introduction
5.2
Description of SoPC builder design
5.2.1
DE2 115 board
5.2.2
Nios II embedded processor
5.3
FPGA implementation of forward kinematics and inverse kinematics
5.4
Applying to real robot arm
5.4.1
Hardware implementation system
5.4.1.1
CAN bus interface
5.4.1.2
Overall hardware system
5.4.2
Experimental results
5.4.2.1
Linear motion trajectory
5.4.2.2
Circular motion trajectory
5.4.2.3
Star motion trajectory
5.4.2.4
Window motion trajectory
Chapter
6 Conclusion and future works
6.1
Conclusion
6.2
Future works
References
Biography
Academic
Publications
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