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Precision Control of Modular Robot Manipulators:
The VDC Approach With Embedded FPGA
Abstract
A systematic solution to precision control of modular robot manipulators
without using joint torque sensing is presented in this paper for the first time.
Using the virtual decomposition control (VDC) approach with embedded field
programmable gate array (FPGA) logic devices, the proposed solution solves a
longstanding problem of lacking control precision fundamentally associated with
the modular robot manipulators. As a result, this solution allows modular robot
manipulators to possess not only their traditional advantages (such as
reconfigurability, flexibility, versatility, and ease of use) but precision control
capability as well. A hierarchical master–slave control structure is used, which is
supported by a high-speed communication system modified from SpaceWire (IEEE
1355), transferring a limited amount of data between themaster and slave nodes at
a rate of 1000 Hz. In eachmodule, theFPGAlogic implementation uses multiple
sampling periods of 163.8 μs, 1.28 μs, and 20 ns. A gravity counterbalance spring
provides a design option for the purpose of energy saving. Experimental results
demonstrate unprecedented control precision, which is attributed to the use of
both the VDC approach and embedded FPGA implementation. The ratio of the
maximum position tracking error to the maximum velocity reaches 0.00012 s—more
than an order of magnitude better than available technologies in control of robots
with harmonic drives. The solution presented in this paper is also applicable to
integrated robot manipulators using embedded FPGA controllers.

2. Scheme of using block memories to perform multiple multiplications with a single
multiplier.