FPGA-based architecture for direct visual control robotic systems

This paper describes a whole new framework to quickly develop dynamic visual servoing systems embedded in an FPGA. Parallel design of algorithms increases the precision of this kind of controller, while minimizing the response time. Additionally, a control framework to dynamically visual control robot arms is proposed. The direct image-based visual controllers derived from the framework allow for tracking trajectories obtaining different dynamic behaviors depending on a weighting matrix. A new method to compensate the chaos behavior of this kind of system is also included in the proposed framework. To exemplify the feasibility of the FPGA-based proposed framework, and to demonstrate the effects of the metrics, some of the derived controllers are evaluated during the tracking of image trajectories.This research is supported by the Spanish Ministry of Economy, the European FEDER funds, the Valencia Regional Government and the University of Alicante through the research projects DPI2015- 68087-R, PROMETEO/2013/085 and GRE12-17