Design and implementation of a reconfigurable machine (RM) by using the Xilinx XC4005 FPGA and mapping the robotics control on RM

• Main Author: Kuo, Yue Kong.
• Other Authors: S. S. Erdogan
• Format: Theses and Dissertations
• Language: English
• Published: 2009
• Subjects: DRNTU::Engineering::Computer science and engineering::Hardware::Control structures and microprogramming
• Online Access: http://hdl.handle.net/10356/20419
• Institution: Nanyang Technological University

This thesis describes a Reconfigurable Machine (RM) for parallel computations. It was built using the Xilinx Field Programmable Gate Array (FPGA), with the objective to demonstrate the feasibility of a completely reconfigurable platform for communications, control and processing elements. In addition, the RM parallel machine is considered for real time applications. The control circuit is implemented easily and efficiently through the use of the Xilinx FPGA and it's associated CAD system (XACT), together with the Mentor Graphics (EDA) system. The implementation of an adaptive Robotics Control Algorithm on the RM using special carry-save multiplier and extensive pipelining is outlined on a Field Programmable Gate Array (FPGA) platform.