Chand, Ravinesh and Assaf, Mansour and Chand, Ronal P. and Naicker, Parmesh R. and Narayan, Shailendra V. and Hussain, Abdul F. (2022) Embedded FPGA-based Motion Planning and Control of a Dual-arm Car-like Robot. [Conference Proceedings]
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Abstract
Dual-arm robotic applications require efficient trajectory
control to establish a precise arm movement sequence
to execute multiple tasks accurately. This paper presents a multiprocessor implementation of the Lyapunov-based acceleration controllers using the field-programmable gate array (FPGA) on a General Purpose Processor (GPP) to solve the motion planning and control problem of a dual-arm car-like mobile robot. First, the dual-arm system’s kinematic model and FPGA-based motion control are developed. Then, a dual-step algorithm is utilized to move the car-like base from an initial position to its pseudotarget and, secondly, maneuver the front and rear end-effectors to their designated targets, taking into account the restrictions
and limitations of the revolute links and the steering control laws of the system. Finally, the computer simulations verify the effectiveness of the proposed method and the proposed control inputs. The innovative dual-arm technique presented in this study can potentially have real-world applications in smart city environments, particularly in the waste management and garbage collection sectors.
| Item Type: | Conference Proceedings |
|---|---|
| Uncontrolled Keywords: | revolute, FPGA chip, end-effector, pseudotarget, multiprocessor |
| Subjects: | Q Science > Q Science (General) |
| Divisions: | Faculty of Science, Technology and Environment (FSTE) > School of Computing, Information and Mathematical Sciences |
| Depositing User: | Nirma Narayan |
| Date Deposited: | 02 Jan 2024 22:40 |
| Last Modified: | 02 Jan 2024 22:40 |
| URI: | https://repository.usp.ac.fj/id/eprint/14352 |
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