Journal of Advanced Computing, Communication and Technologies


Journal of Advanced Computing, CommunicatiOn &



Design of a New Motion Control System on Chip Architecture for Robotic Manipulator

Abstract In this paper a new System on Chip (SoC) architecture is been proposed for motion control of robotic manipulators. The main idea is to use a separate control units for non servo and servo based motor devices. The control blocks are designed to handle the linear and non linear motion. The non servo based unit works on feedback control through data converts ADC and DAC. Additional charge pump circuit block is proposed for efficient driving capability. The servo motor control is designed using Inverse kinematics, quadrature encoder and pulse width modulators. The new SoC is designed for 130nm technology consuming lesser power and area. Analysis results proves that the proposed design with SoC will be a new design prespective in the field of VLSI and Robotics. Implementation of Non servo control unit is done using Atmega8 board. The Chip circuits are implemented in SPICE TOOL.

Index TermsASIC Design, System on Chip (SoC), Motion control, Inverse Kinematics, PWM, Motor Driver.

I. Introduction  

         In industrial automation such as robotics, Textile weaving, Bore, bonding machines, CNC machining, and electronic component placement device there is a need of precise Motion control system which controls the motion of the actuator and manipulators. But in places where the speed of operation is higher the error also increases which reduces the productivity.  Other applications need different sort of controls like robust control, hybrid control and torque control. Many technologies like PID, neural network and fuzzy logic controls are successful in motion control systems but complex and use several chips. The existing model is shown in figure 1. Which rely on DSP processor or embedded processor or a combination of a DSP and FPGA. But the accuracy is not higher. The complexity of algorithms used in the DSP processor provides poor control performance and low sampling frequencies even if they use Multi DSP processor or multicore devices. New motion controller architecture is therefore required for efficient performance. Even though FPGA have performed better than microcontroller or DSP the programming complexity increases and the limitation happens in its features.

Fig. 1. Existing motion control block

The rest of the paper is organized in this way. In section II literature Survey is done in detail. Section III, IV presents the Proposed methodology and Implementation and discussion respectively. The conclusion follows the latter.

I. implementation issues

A.  Non-Servo Control Unit:

 The non servo control unit is been implemented using Atmega8 microcontroller board and DC motor. The circuit which mocks the unit of a non-servo motor runs in a 9V battery is shown in figure 5. The end product will be a relay connected device using a voltage of 110/220V industry motor.

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