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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