FPGA in the loop implementation of the PUMA 560 robot based on backstepping control
Fekik, Arezki; Khati, Hocine; Azar, Ahmad Taher; Hamida, Mohamed Lamine; Denoun, Hakim; Hameed, Ibrahim A.; Kamal, Nashwa Ahmad
Journal article, Peer reviewed
Published version
Date
2023Metadata
Show full item recordCollections
- Institutt for IKT og realfag [597]
- Publikasjoner fra CRIStin - NTNU [38289]
Abstract
The objective of this article is to present the implementation of a backstepping control regulator on a Xilinx Zedboard Zynq FPGA using the HDL Coder tool through the FPGA in-the-loop option, and to study its effectiveness when applied to a three-dimensional robotic manipulator model. The analysis is based on the application of the backstepping control law for the three degrees of freedom PUMA 560 model, through the development of a dynamic simulation model. The results of practical implementation using the FPGA in the loop technique demonstrate the effectiveness of the proposed method using the Xilinx Zedboard Zynq FPGA, which provides a useful insight into the benefits of using backstepping control laws in robotics applications.