Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Embedded Hardware Implementation of an FPGA Based Nonlinear PID Controller for the ROBOKER Arm

ROBOKER 팔의 제어를 위한 FPGA 기반 비선형 제어기의 임베디드 하드웨어 구현

  • 김정섭 (충남대학교 메카트로닉스 BK21 그룹) ;
  • 전효원 (충남대학교 메카트로닉스 BK21 그룹) ;
  • 정슬 (충남대학교 메카트로닉스 BK21 그룹)
  • Published : 2007.12.01
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Abstract

This paper presents the hardware implementation of nonlinear PID controllers for the ROBOKER humanoid robot arms. To design the nonlinear PID controller on an FPGA chip, nonlinear functions as well as the conventional PID control algorithm have to be implemented by the hardware description language. Therefore, nonlinear functions such as trigonometric or exponential functions are designed on an FPGA chip. Simulation studies of the position control of humanoid arms are conducted and results are compared. Superior performances by the nonlinear PID controllers are confirmed when disturbances are present. Experiments of humanoid robot arm control tasks are conducted to confirm the performance of our hardware design and the simulation results.

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References

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