Post on 21-Jul-2020
Project Presentation
Izaz - Yuka - Willian
ECE532 - DIGITAL SYSTEM DESIGN
UNIVERSITY OF TORONTO
FPGA + 3D Camera Robotic Arm Control
Serial Communication
Compute distance between these 2 points
d = sqrt((x_red – x_green)² + (y_red – y_green)²)
Compute position x and y of red and green
x_red = sum_x/n_pixels y_red = sum_y/n_pixels
Sum coordinates of all red and green pixels
sum_x = sum_x + x sum_y = sum_y + y
Convert pixel to RGB888
Check if it is red Check if it is green
Compute x and y positions of red and green
Compute distance
between these 2 points
x*y == resolution
CAM base address
FALSE
TRUE
distance
Process 1
• Read 64 bytes each
time from DDR and
store in the FIFO
Process 2
• Read 4 bytes each time
from FIFO and check if
pixels are red or green
Process 1 Process 2
Simple and Compact Design
Communication- Half Duplex Asynchronous Serial
Control-Position, Velocity and torque can be set with one
single command packet
MatLab is used as a bridge between the Xilinx Platform and the robotic arm
A simple read and write operation is performed using built in serial function of the MatLab
MatLAB ISE,SDK
Atlys Board
Station 1
Station 2
We were unable to establish a direct serial link between the Xilinx board and the Robotic Arm
We have gained extensive knowledge of the robotic arm which can be passed on to upcoming students willing to develop on our work
Start Start ID Length Instruction Parameters CheckSum
OXFF OXFF 0x01 0x04 0x03 0x03 0x01 0xF6
Start Start ID Length Instruction Parameters CheckSum
OXFF OXFF 0x01 0x04 0x02 0x2B 0x01 0xF6
Reads internal Temp of actuator 1
MatLab is used as a bridge between the Xilinx Platform and the robotic arm
A simple read and write operation is performed using built in serial function of the MatLab
MatLAB ISE,SDK
Atlys Board
Station 1
Station 2
We were unable to establish a direct serial link between the Xilinx board and the Robotic Arm
We have gained extensive knowledge of the robotic arm which can be passed on to upcoming students willing to develop on our work
ECE532 – Digital Systems Design
Izaz - Yuka - Willian