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) : Parmley, Steven M.

PDF Url : ADA336773

Report Date : DEC 1997

Pagination or Media Count : 180

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 system's 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.

Descriptors :   *KINEMATICS, *ALGORITHMS, *ROBOTICS, *NONVOLATILE MEMORIES, ADAPTIVE CONTROL SYSTEMS, MICROPROCESSORS, REAL TIME, COMPUTER PROGRAMMING, THESES, MAGNETIC DISKS, C PROGRAMMING LANGUAGE.

Subject Categories : Cybernetics

Distribution Statement : APPROVED FOR PUBLIC RELEASE