Architectural System Design of Six Channels Compact Fuzzy Logic Controller for Arm Robot Joints Using FPGA Technology

The purpose of this study is to develop the architectural system design of the Six Channels Compact Fuzzy Logic Controller (SCC-FLC) ready to be embedded into the FPGA (Field Programmable Gate Array) for joints of arm robot's manipulator. The FPGA based system design of this study could controlled independently six servo of arm robot manipulators to reduce workload of computer system. The method of this study divided into four steps. The first step, the FLC-P (Fuzzy Logic Controller Processor) block module of single channel C-FLC (Compact Fuzzy Logic Controller) on the previous study is redesigned in architectural system design by adding lots of block modules using multiplexing method. The second step, the module interconnections of system architecture are designed by defining some of inputs and output ports. The third step, the specific function of block modules about working processes is determined based on the definition of input and output ports. The fourth step, sequences of multiplexing processes are determined based on the algorithm of FLC, thus the total processing time of SCC-FLC could be estimated from architectural system design. Architectural system design of SCC-FLC requires external chips are 12bit ADC MAX-186 chip and 12bit DAC MAX-3203 of six chips. The block modules of SCC-FLC are FLC-P, LUT-MBFs (Look Up Table of Membership Function), ADC-I (Analog to Digital Converter Interface), DAC-I (Digital Analog Converter Interface), ECEG (Error and Change Error Generators), SPL (Set Point Latchs) and TAC (Time And Control). The total processing time of SCC-FLC by estimation is 256.2 μS or sampling frequency of 3.907KHz using clock frequency of 100MHz.