By Topic

An FPGA-Based Multiple-Axis Motion Control Chip

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

3 Author(s)
Jung Uk Cho ; Dept. of Comput. Sci. & Eng., Univ. of California at San Diego, La Jolla, CA ; Quy Ngoc Le ; Jae Wook Jeon

This paper presents the design and implementation of a multiple-axis motion control chip using a field-programmable gate array (FPGA). This multiple-axis motion control chip is designed to control a multiple-axis motion system such as a robotic arm manipulator or a computer numerical control machine. The proposed motion control chip has many functions. These include velocity profile generation, interpolation calculation, inverse kinematics calculation, proportional-integral-derivative control, feedback count, pulse integration, data conversion, clock generation, and external interfacing. These functions are designed using the VHSIC hardware description language and implemented on an FPGA according to the electronic design automation design methodology. This allows for a highly sampled, accurate, flexible, compact, low-power, and low-cost motion control system. The detailed design of the proposed motion control chip is presented. A multiple-axis motion control system using this chip is implemented, and its performance is measured. The multiple-axis motion control system is implemented on a platform consisting of a chip-based multiple-axis motion controller, analog ac servo drivers, a selective compliant assembly robot arm robot, and a host personal computer.

Published in:

Industrial Electronics, IEEE Transactions on  (Volume:56 ,  Issue: 3 )