An encoder fault tolerant FPGA based robot control using bluetooth of a smart phone

Ameen Majeed; Salih Baris Ozturk; DIdem Kivanc Tureli

An encoder fault tolerant FPGA based robot control using bluetooth of a smart phone

Ameen Majeed, Salih Baris Ozturk, DIdem Kivanc Tureli

Okan University

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

3 Citations (Scopus)

Abstract

An FPGA based Bluetooth controlled robot with encoder fault tolerant algorithm is presented. The smart phone is used to obtain user intentions, such as turning, speeding or braking and this data is sent to a robot using Bluetooth. The motor control algorithms and robot communication interfaces are implemented on FPGA for parallel processing. The robot is capable of changing its position with the help of two independent PI closed loop speed controlled DC motors. The motor speed is determined by the accelerometer of the sensor data of a smart phone. The FPGA receives speed information and generates appropriate PWM signals. Motor rpm is calculated via rotary encoder. In case of an encoder failure, an on-board gyroscope helps maintaining normal operation. An Android based smart phone application has been developed. MATLAB is used for simulating an encoder failure and observation of results. The motor control algorithm has been implemented using Verilog and tested on the field.

Original language	English
Title of host publication	2017 10th International Conference on Electrical and Electronics Engineering, ELECO 2017
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	1336-1341
Number of pages	6
ISBN (Electronic)	9786050107371
Publication status	Published - 2 Jul 2017
Externally published	Yes
Event	10th International Conference on Electrical and Electronics Engineering, ELECO 2017 - Bursa, Turkey Duration: 29 Nov 2017 → 2 Dec 2017

Publication series

Name	2017 10th International Conference on Electrical and Electronics Engineering, ELECO 2017
Volume	2018-January

Conference

Conference	10th International Conference on Electrical and Electronics Engineering, ELECO 2017
Country/Territory	Turkey
City	Bursa
Period	29/11/17 → 2/12/17

Bibliographical note

Publisher Copyright:
© 2017 EMO (Turkish Chamber of Electrical Enginners).

Cite this

Majeed, A., Ozturk, S. B., & Tureli, DI. K. (2017). An encoder fault tolerant FPGA based robot control using bluetooth of a smart phone. In 2017 10th International Conference on Electrical and Electronics Engineering, ELECO 2017 (pp. 1336-1341). (2017 10th International Conference on Electrical and Electronics Engineering, ELECO 2017; Vol. 2018-January). Institute of Electrical and Electronics Engineers Inc..

Majeed, Ameen ; Ozturk, Salih Baris ; Tureli, DIdem Kivanc. / An encoder fault tolerant FPGA based robot control using bluetooth of a smart phone. 2017 10th International Conference on Electrical and Electronics Engineering, ELECO 2017. Institute of Electrical and Electronics Engineers Inc., 2017. pp. 1336-1341 (2017 10th International Conference on Electrical and Electronics Engineering, ELECO 2017).

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title = "An encoder fault tolerant FPGA based robot control using bluetooth of a smart phone",

abstract = "An FPGA based Bluetooth controlled robot with encoder fault tolerant algorithm is presented. The smart phone is used to obtain user intentions, such as turning, speeding or braking and this data is sent to a robot using Bluetooth. The motor control algorithms and robot communication interfaces are implemented on FPGA for parallel processing. The robot is capable of changing its position with the help of two independent PI closed loop speed controlled DC motors. The motor speed is determined by the accelerometer of the sensor data of a smart phone. The FPGA receives speed information and generates appropriate PWM signals. Motor rpm is calculated via rotary encoder. In case of an encoder failure, an on-board gyroscope helps maintaining normal operation. An Android based smart phone application has been developed. MATLAB is used for simulating an encoder failure and observation of results. The motor control algorithm has been implemented using Verilog and tested on the field.",

author = "Ameen Majeed and Ozturk, {Salih Baris} and Tureli, {DIdem Kivanc}",

note = "Publisher Copyright: {\textcopyright} 2017 EMO (Turkish Chamber of Electrical Enginners).; 10th International Conference on Electrical and Electronics Engineering, ELECO 2017 ; Conference date: 29-11-2017 Through 02-12-2017",

year = "2017",

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language = "English",

series = "2017 10th International Conference on Electrical and Electronics Engineering, ELECO 2017",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

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Majeed, A, Ozturk, SB & Tureli, DIK 2017, An encoder fault tolerant FPGA based robot control using bluetooth of a smart phone. in 2017 10th International Conference on Electrical and Electronics Engineering, ELECO 2017. 2017 10th International Conference on Electrical and Electronics Engineering, ELECO 2017, vol. 2018-January, Institute of Electrical and Electronics Engineers Inc., pp. 1336-1341, 10th International Conference on Electrical and Electronics Engineering, ELECO 2017, Bursa, Turkey, 29/11/17.

An encoder fault tolerant FPGA based robot control using bluetooth of a smart phone. / Majeed, Ameen; Ozturk, Salih Baris; Tureli, DIdem Kivanc.
2017 10th International Conference on Electrical and Electronics Engineering, ELECO 2017. Institute of Electrical and Electronics Engineers Inc., 2017. p. 1336-1341 (2017 10th International Conference on Electrical and Electronics Engineering, ELECO 2017; Vol. 2018-January).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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Majeed A, Ozturk SB, Tureli DIK. An encoder fault tolerant FPGA based robot control using bluetooth of a smart phone. In 2017 10th International Conference on Electrical and Electronics Engineering, ELECO 2017. Institute of Electrical and Electronics Engineers Inc. 2017. p. 1336-1341. (2017 10th International Conference on Electrical and Electronics Engineering, ELECO 2017).

An encoder fault tolerant FPGA based robot control using bluetooth of a smart phone

Abstract

Publication series

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Bibliographical note

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