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|Title:||Real-time FPGA control of a hexapod robot for 6-DOF biomechanical testing|
|Citation:||Proceedings of the 37th Annual Conference of the IEEE Industrial Electronics Society, held in Melbourne, 7-10 November, 2011: pp.252-257|
|Series/Report no.:||IEEE Industrial Electronics Society|
|Conference Name:||Annual Conference of the IEEE Industrial Electronics Society (37th : 2011 : Melbourne)|
|Boyin Ding, Richard M. Stanley, Benjamin S. Cazzolato and John J. Costi|
|Abstract:||A hexapod robotic test system has been developed to enable complex six degree of freedom (6-DOF) testing of bones, joints, soft tissues, artificial joints and other medical and surgical devices. The device employs six permanent-magnet servomotor driven ballscrews to actuate the system, and measures the displacement response using incremental encoders and loads using a six axis load-cell. The mechanism incorporates a unique design which mitigates many of the issues arising from load-cell compliance, common to most other serial and parallel mechanisms for material testing. This was achieved through a non-collocated design which raises additional challenges. Achieving high bandwidth control of the hexapod also presents challenges, and was achieved using a combination of LabVIEW real-time running on a floating-point Intel processor, along with LabVIEW FPGA running on 16bit Xilinx FPGAs. In this paper the following unique aspects of this hexapod are discussed: the mitigation of load-cell compliance, non-collocated control, implementation of the controller on a real-time platform, and finally technical solutions to solve the complex forward-kinematics solution in real-time. Finally, the results from testing a high-density polymer cylindrical specimen are presented.|
|Keywords:||Real-time control; FPGA; Hhxapod robot; noncollocated; 6-DOF; biomechanical testing|
|Rights:||© 2011 IEEE|
|Appears in Collections:||Mechanical Engineering conference papers|
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