Browsing by Author "Tsui, Tai-Wei"

Now showing 1 - 1 of 1

FPGA-BASED MOTION CONTROLLER FOR WAFER-HANDLING ROBOT
(2013)
Chou, Hsin-Hung
;
Kung, Ying-Shieh
;
Tsui, Tai-Wei
;
Cheng, Stone
;
機械工程學系
This study applies FPGA (Field Programmable Gate Arrays) technology to implement a motion controller for wafer-handling robot which has three-DOF (Degree of Freedom) motion. The proposed FPGA-based motion controller has two modules. The first module is Nios II processor which is used to realize the motion trajectory computation and the three-axis position/speed controllers. The second module is demonstrated to implement the three-axis current vector controllers by using FPGA hardware, and VHDL (VHSIC Hardware Description Language) is adopted to describe the controller behavior. Therefore, a fully digital motion controller for wafer-handling robot, such as one trajectory planning, three current vector controllers and three position/speed controllers are all implemented with an FPGA chip.