Developing and Controling Robot Arm Model with Avnet Microzed Development BoardMarko Purić
, 2019, master's thesis
Abstract: This master's thesis describes development and building of the SCARA robot arm with two rotational joints. Using SolidWorks, model of the SCARA robot was built, serving as development tool for the physical model. Controlling the SCARA robot was done with MicroZed development board, based on the Zynq-7000 SoC, which consists of a field-programmable gate array (FPGA) and ARM Cortex-A9 processor.
Purpose of this master's thesis was to build a SCARA robot and utilize the FPGA for interaction with peripherals, ARM Cortex-A9 processor was used for implementing a cascading control system. This master's thesis is the foundation for future work involving advanced control techniques consisting of nonlinear controllers, which are developed in the Laboratory for Cognitive Systems and Mechatronics at Faculty of Electrical Engineering and Computer Science at Maribor.
Keywords: SCARA robot, cascade control system, FPGA, Zynq-7000 SoC, MicroZed development board
Published: 29.01.2020; Views: 397; Downloads: 50
Full text (3,69 MB)