Closed Control Loop Implementation for Single Robot Axis on FPGA Platform

This paper deals with closed control loop implementation for robot single axis with DC motor on FPGA platform. Controlling algorithm is designed in Matlab/Simulink environment and its Custom Toolbox is specifically designed for the purpose of control structures development in real time. Torque is calculated on FPGA structure and brought to a motor which generates necessary PMW. On the motor axis is a pendulum which follows default trajectory. It is a stream of data obtained by calculating or recording robot axis position while moving it manually. Experimental results are also provided.