Universal block for simple design of FPGA based controller in anthropomorphous robot configuration

This paper is a description of universal block created for the purpose of simplifying realization of control structure for anthropomorphous robots on FPGA chip. Block is realized in Matlab with installed DSP Builder used for programming Altera FPGA chips with FPGA Real Time Toolbox. In the paper are also provided prerequisites and control structure for robot PUMA 560, as well as simulation results of the chosen algorithm realized in Matlab with Robotics Toolbox. In the end of the paper are provided experimental results verified on robot PUMA 560. Matching between experimental and simulation results validates the concept of the realized controller hardware and universal block.