EXOSKELETON CONTROL OF A PROGRAMMABLE ROBOT ARM USING FIELD-PROGRAMMABLE GATE ARRAYS

Abstract- The core objective of this project is the development of an exoskeleton controller for a prototype robotic arm, which is stand-alone, portable, programmable, and easy to maintain and use. The design and implementation utilizes a field-programmable gate array (FPGA) to meet this objective. At present, exoskeleton controllers of robotic manipulators are usually bulky, stationary and usually dependent on a personal computer or mainframe. The product of this project can become a basis for future exoskeleton controller designs, where it can make a significant impact on almost everyone especially in industry and research. Such designs will be invaluable in automated factory processes, construction, toxic waste handling such as maybe needed at the Philippine Nuclear Research Institute and hospitals handling radioactive materials, operations in a vacuum environment, honey-bee culturing and even deep sea or space exploration. Furthermore, the design can bring a complex technology to a level that everyone can comprehend, and can promise a full utilization of such. Based on existing designs and technologies studied, a lightweight, portable and easy-to-wear exoskeleton controller was constructed. This exoskeleton coupled with the use of an FPGA to serve as the system's main processor will make the controller of a robotic arm easier to move, handle, understand, use, and maintain. With the whole setup completed, the programmable robotic arm controlled by an exoskeleton controller is yet another important achievement in the field of robotics. 1