NDLI: Digital System Control for Three-Degrees of Freedom Mechanical Arm with FPGA

Content Provider	IEEE Xplore Digital Library
Author	Guzman-Sepulveda, J.R. de Jesus Romero-Troncoso, R.
Copyright Year	2008
Description	Author affiliation: Fac. de Ing. Mec., Electr. y Electron., Univ. de Guanajuato, Guanajuato (Guzman-Sepulveda, J.R.; de Jesus Romero-Troncoso, R.)
Abstract	This work has as objective to show the design process and implementation of three-degrees of freedom mechanical arm, controlled by a digital system, described under VHDL, and implemented into a FPGA (field programmable gate array). The digital system for control is designed through the interconnection of circuits and functional blocks. The FPGA terminals are used to control the sequences of three stepper motors and this way to achieve the movement of the three-degrees of freedom arm, the interface stage among the control and the motors, is developed with a power electronic circuit based on transistors. This design proposal is a didactic model that seeks to illustrate the stages of the design and, mainly, the digital system for control the movements of the mechanical arm. For this case,the mechanical design of the arm does not depend on a specific trajectory, it is a free trajectory and user can decide, trough the FPGA interface, the mechanical arm movement. The mechanical arm proposal does not have the capacity to exercise big forces, not to lift big weight, but rather it seeks to be an easy construction model and accessible for everyone, since it can be built until with recycled material, just as it was made in this case, for educational purposes.
Starting Page	496
Ending Page	501
File Size	1376134
Page Count	6
File Format	PDF
ISBN	9780769533209
DOI	10.1109/CERMA.2008.74
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2008-09-30
Publisher Place	Mexico
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	VHDL Digital systems FPGA mechanical arm Synchronous motors Control systems Power electronics Trajectory stepper-motor Digital System Field programmable gate arrays Qualifications
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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