A New Seven-Segment Profile Algorithm for an Open Source Architecture in a Hybrid Electronic Platform

Electronics

EdsonE. Cruz-Miguel¹  JoséR. García-Martínez¹  Juvenal Rodríguez-Reséndiz¹ 

[1] División de Investigación y Posgrado, Facultad de Ingeniería, Universidad Autónoma de Querétaro (UAQ), Cerro de las Campanas, S/N, Col. Las Campanas, Querétaro C.P. 76010, Mexico;

关键词: low-cost platform;    FPGA;    S-curve;    motion control;    robotics;    SoC;   

DOI  :  10.3390/electronics8060652

来源: DOAJ

【 摘 要 】

The velocity profiles are used in the design of trajectories in motion control systems. It is necessary to design smoother movements to avoid high stress in the motor. In this paper, the rate of change in acceleration value is used to develop an S-curve velocity profile which presents an acceleration and deceleration stage smoother than the trapezoidal velocity profile reducing the error at the end of the duty-cycle pre-established in one degree of freedom (DoF) application. Furthermore, a new methodology is developed to generate a seven-segment profile that works with negative velocity and displacement constraints applying an open source architecture in a hybrid electronic platform compounded by a system on a chip (SoC) Raspberry Pi 3 and a field programmable gate array (FPGA). The performance of the motion controller is measured through the comparison of the error obtained in real-time application with a trapezoidal velocity profile. As a result, a low-cost platform and an open architecture system are achieved.

【 授权许可】

Unknown