Ramos-Arreguin Juan-Manuel, Tovar-Arriaga Saul, Vargas-Soto Jose-Emilio, and Aceves-Fernandez Marco-Antonio
FPGA-based controller, pneumatic controller, PD control, embedded control
Solutions based on field programmable gate array (FPGA) tech- nology have gained relevance in industrial applications for position and speed control of electrical actuators. However, FPGA-based controllers have a broad scope of applications using pneumatic com- ponents such as the development of robotic manipulators with pneu- matic actuators. The novelty of this work is the implementation of a pneumatic PD control embedded into an FPGA, which is applied to move a one-degree-of-freedom robot manipulator. As a result, a PD control embedded in FPGA was used to control the pneumatic actuator manipulator with satisfactory behaviour.
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