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http://dx.doi.org/10.5302/J.ICROS.2007.13.12.1153

Embedded Hardware Implementation of an FPGA Based Nonlinear PID Controller for the ROBOKER Arm  

Kim, Jeong-Seob (충남대학교 메카트로닉스 BK21 그룹)
Jeon, Hyo-Won (충남대학교 메카트로닉스 BK21 그룹)
Jung, Seul (충남대학교 메카트로닉스 BK21 그룹)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.13, no.12, 2007 , pp. 1153-1159 More about this Journal
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.
Keywords
nonlinear PID; FPGA; floating-point; humanoid robot arms;
Citations & Related Records
Times Cited By KSCI : 1  (Citation Analysis)
연도 인용수 순위
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