ROBOT ARM CONTROLLER USING FPGA
This article describes the design and building a control system with an FPGA chip to control the movements of a robotic arm. Controller System and the drive circuits are the major parts of the circuit. each motor on the robotic arm requires a separate control circuit. the Control System does not supply enough power to drive the motors directly and as a result, such circuits are required. Spartan –II FPGA chip is used to implement the circuit and the VHDL coding is used. much higher speed is obtainable with the FPGA but a slow clock is needed to obtain relatively large delays for the output signals. The basis of the project is motion control using stepper motor. the stepper motor is controlled using FPGA. programming and simulation part of the project was done at the first stage. Then follows the implementation stages like the PCB designing, soldering and troubleshooting of PCB. ULN2803A interfacing with FPGA is done here. Positional control is a major problem addressed by this project.
Robotic control is an exciting and high challenge research field in the recent years. Many digital control systems for robot manipulation and mobile robots are proposed in the
literature. But DSP chip or Microcontroller is used in all of them. higher performance alongwith flexibility at reduced cost and resources. cannot be offered by them. An FPGA chip is the approach used in this project. The robot is basically a jointed arm robot.
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This article is presented by:
RAJESH KUMAR.M

CHALLENGES FOR ROBOT MANIPULATION IN HUMAN ENVIRONMENT

Within factories around the world, robots perform heroic feats of manipulation on a daily basis. They lift massive objects, move with blurring speed, and repeat complex performances with unerring precision. Yet outside of carefully controlled settings, even the most sophisticated robot would be unable to get you a glass of water. The everyday manipulation tasks we take for granted would stump the greatest robot bodies and brains in existence today.


To what End
Commercially available robotic toys and vacuum cleaners inhabit our living spaces, and robotic vehicles have raced across the desert. These successes appear to foreshadow an explosion of robotic applications in our daily lives, but without advances in robot manipulation, many promising robotic applications will not be possible. Whether in a domestic setting or the work-place, we would like robots to physically alter the world through contact.



To date, robots have been very successful at manipulation in simulation and controlled environments such as a factory. Outside of controlled environments, robots have only performed sophisticated manipulation tasks when operated by a human.



Simulation:-

Within simulation, robots have performed sophisticated manipulation tasks such as grasping convoluted objects, tying knots, and carrying objects around complex obstacles. The control algorithms for these demonstrations often employ search algorithms to find satisfactory solutions, such as a path to a goal state, or a set of contact points that maximize a measure of grasp quality. For example, many virtual robots use algorithms for motion planning that rapidly search for paths through a state space that models the kinematics and dynamics of the world . Most of these simulations ignore the robot’s sensory systems and assume that the state of the world is known with certainty. For example, they often assume that the robot knows the three-dimensional (3-D) structure of the objects it is manipulating.

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