Accession Number:

ADA336773

Title:

FPGA Processor Implementation for the Forward Kinematics of the UMDH

Descriptive Note:

Master's thesis

Corporate Author:

AIR FORCE INST OF TECH WRIGHT-PATTERSONAFB OH

Personal Author(s):

Report Date:

1997-12-01

Pagination or Media Count:

180.0

Abstract:

The focus of this research was on the implementation of a forward kinematic algorithm for the Utah MIT Dexterous Hand UMDH. Specifically, the algorithm was synthesized from mathematical models onto a Field Programmable Gate Array FPGA processor. This approach is different from the classical, general purpose microprocessor design where all robotic controller functions including forward Kinematics are executed serially from a compiled programming language such as C. The compiled code and subsequent real time operating system must be stored on some form of nonvolatile memory, typically magnetic media such as a fixed or hard disk drive, along with other computer hardware components to allow the user to load and execute the software. With a future goal of moving the controllers to a portable platform like a dexterous prosthetic hand for amputee patients, the application of such a hardware implementation is impossible. Instead, this research explores a different implementation based on a modular approach of dedicated hardware controllers. The controller for the forward kinematics of the UMDH is used as a test case. The resulting FPGA processor replaces a robotic systems burden of repetitive and discrete software system calls with a stand alone hardware interface that appears more like a single hardware function call. The robotic system is free to tackle other tasks while the FPGA processor is busy computing the results of the algorithm.

Subject Categories:

  • Cybernetics

Distribution Statement:

APPROVED FOR PUBLIC RELEASE