Trajectory Optimization Algorithms for SCARA Arm Controlled Using Spartan 6 FPGA

This project focuses on the research and development of advanced trajectory optimization algorithms applied to the control of a SCARA robotic arm. The implementation utilizes advanced digital circuits, specifically SPARTAN 6 FPGAs, for robot control management. The work builds upon a successful prior phase that involved enabling the robotic arms and developing a Human-Machine Interface (HMI) using the Kinect sensor, leading to a paper accepted at IEEE-COLCOM2013. The current phase aims to overcome implementation challenges and advance digital control. The proposed methodology includes a Descriptive State to detail the hardware (physical characteristics, connections, datasheets) and software (languages, libraries). Subsequently, an Interactive State will address and resolve hardware interconnection and software development issues. Finally, a rigorous analysis and evaluation of collected data will be performed, including device calibration and laboratory testing. The primary goal is to equip laboratories with cutting-edge didactic tools and generate scientific publications stemming from the research.<br/><br/><b>Goal</b>: <br/>To analyze and develop trajectory optimization algorithms for the SCARA robotic arm, implementing control via SPARTAN 6 FPGAs, aiming to enhance educational tools and advance robotics research.<br/><br/><b>Research lines</b>: <br/>Control engineering and automation technologies