Design of a FPGA-Based NURBS interpolator

Authors:
Huan Zhao;Limin Zhu;Zhenhua Xiong;Han Ding
Affiliations:
State Key Laboratory of Mechanical System and Vibration, Shanghai Jiaotong University, Shanghai, P.R. China;State Key Laboratory of Mechanical System and Vibration, Shanghai Jiaotong University, Shanghai, P.R. China;State Key Laboratory of Mechanical System and Vibration, Shanghai Jiaotong University, Shanghai, P.R. China;State Key Laboratory of Mechanical System and Vibration, Shanghai Jiaotong University, Shanghai, P.R. China
Venue:
ICIRA'11 Proceedings of the 4th international conference on Intelligent Robotics and Applications - Volume Part II
Year:
2011

Citing 4
Cited 0

The NURBS book

The NURBS book
Development of an integrated look-ahead dynamics-based NURBS interpolator for high precision machinery

Computer-Aided Design
Real-time NURBS interpolation using FPGA for high speed motion control

Computer-Aided Design
The feedrate scheduling of NURBS interpolator for CNC machine tools

Computer-Aided Design

Quantified Score

Hi-index	0.00

Visualization

Abstract

In this paper, a NURBS hardware interpolator based on FPGA is designed to perform the feedrate profile scheduling, de-Boor Cox calculation and second-order Talor expansion to realize real-time interpolation. Look-ahead algorithm including curve-scanning, feedrate adjustment and acceleration/deceleration planning is implemented in the computer to release the computational load of the interpolator, whereas a motion control card with DSP+FPGA architecture receives the pre-processed results from the look-ahead circuit through PCI bus, and sequently performs the interpolation task in the FPGA and position servo control in the DSP. Experiments are carried out to verify the feasibility of this interpolator. The results imply the FPGA can finish the interpolation within 0.5ms, meanwhile its resource utilization and the calculation speed can compromise to satisfy the practical application.