FPGA in the loop implementation of the PUMA 560 robot based on backstepping control

The objective of this article is to present the implementation of a backstepping control regulator on a Xilinx Zedboard Zynq FPGA using the HDL Coder tool through the FPGA in-the-loop option, and to study its effectiveness when applied to a three-dimensional robotic manipulator model. The analysis is based on the application of the backstepping control law for the three degrees of freedom PUMA 560 model, through the development of a dynamic simulation model. The results of practical implementation using the FPGA in the loop technique demonstrate the effectiveness of the proposed method using the Xilinx Zedboard Zynq FPGA, which provides a useful insight into the benefits of using backstepping control laws in robotics applications. Implementation of a backstepping control regulator on a Xilinx Zedboard Zynq FPGA using the HDL Coder tool through the FPGA in-the-loop option. The analysis is based on the application of the backstepping control law for the three degrees of freedom PUMA 560 model.image