FPGA based acceleration and deceleration circuit for industrial robots and CNC machine tools

In order to make industrial robots and computer numerical control (CNC) machine tools perform tasks efficiently, many techniques for the acceleration and deceleration of industrial robots and CNC machine tools have been proposed. Polynomial technique can generate velocity profiles of various acceleration and deceleration characteristics, but it requires a lot of computations. Digital convolution technique can generate efficiently velocity profiles, but it cannot generate velocity profiles with some kinds of acceleration and deceleration characteristics. This paper proposes an efficient approach for generating velocity profiles that cannot be generated by previous techniques as well as velocity profiles generated by them. Based on the proposed approach, an acceleration and deceleration circuit for industrial robots and CNC machine tools is designed by using the VHDL and it is implemented with a FPGA. A velocity profile generated by the acceleration and deceleration circuit will be applied to one single-axis control system. (C) 2002 Published by Elsevier Science Ltd.