Real-time FPGA control of a hexapod robot for 6-DOF biomechanical testing

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dc.contributor.authorDing, B.
dc.contributor.authorStanley, R.
dc.contributor.authorCazzolato, B.
dc.contributor.authorCosti, J.
dc.contributor.conferenceAnnual Conference of the IEEE Industrial Electronics Society (37th : 2011 : Melbourne)
dc.date.issued2011
dc.description.abstractA 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.
dc.description.statementofresponsibilityBoyin Ding, Richard M. Stanley, Benjamin S. Cazzolato and John J. Costi
dc.identifier.citationProceedings of the 37th Annual Conference of the IEEE Industrial Electronics Society, held in Melbourne, 7-10 November, 2011: pp.252-257
dc.identifier.doi10.1109/IECON.2011.6119320
dc.identifier.isbn9781612849690
dc.identifier.issn1553-572X
dc.identifier.orcidDing, B. [0000-0001-8417-8057]
dc.identifier.orcidCazzolato, B. [0000-0003-2308-799X]
dc.identifier.urihttp://hdl.handle.net/2440/72022
dc.language.isoen
dc.publisherIEEE
dc.publisher.placeUSA
dc.relation.ispartofseriesIEEE Industrial Electronics Society
dc.rights© 2011 IEEE
dc.source.urihttps://doi.org/10.1109/iecon.2011.6119320
dc.subjectReal-time control
dc.subjectFPGA
dc.subjectHhxapod robot
dc.subjectnoncollocated
dc.subject6-DOF
dc.subjectbiomechanical testing
dc.titleReal-time FPGA control of a hexapod robot for 6-DOF biomechanical testing
dc.typeConference paper
pubs.publication-statusPublished

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