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Open AccessArticle

A New Seven-Segment Profile Algorithm for an Open Source Architecture in a Hybrid Electronic Platform

División de Investigación y Posgrado, Facultad de Ingeniería, Universidad Autónoma de Querétaro (UAQ), Cerro de las Campanas, S/N, Col. Las Campanas, Querétaro C.P. 76010, Mexico
Author to whom correspondence should be addressed.
These authors contributed equally to this work.
Electronics 2019, 8(6), 652;
Received: 28 April 2019 / Revised: 5 June 2019 / Accepted: 6 June 2019 / Published: 10 June 2019
(This article belongs to the Special Issue Cognitive Robotics & Control)
The velocity profiles are used in the design of trajectories in motion control systems. It is necessary to design smoother movements to avoid high stress in the motor. In this paper, the rate of change in acceleration value is used to develop an S-curve velocity profile which presents an acceleration and deceleration stage smoother than the trapezoidal velocity profile reducing the error at the end of the duty-cycle pre-established in one degree of freedom (DoF) application. Furthermore, a new methodology is developed to generate a seven-segment profile that works with negative velocity and displacement constraints applying an open source architecture in a hybrid electronic platform compounded by a system on a chip (SoC) Raspberry Pi 3 and a field programmable gate array (FPGA). The performance of the motion controller is measured through the comparison of the error obtained in real-time application with a trapezoidal velocity profile. As a result, a low-cost platform and an open architecture system are achieved. View Full-Text
Keywords: low-cost platform; FPGA; S-curve; motion control; robotics; SoC low-cost platform; FPGA; S-curve; motion control; robotics; SoC
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García-Martínez, J.R.; Rodríguez-Reséndiz, J.; Cruz-Miguel, E.E. A New Seven-Segment Profile Algorithm for an Open Source Architecture in a Hybrid Electronic Platform. Electronics 2019, 8, 652.

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