I
nte
rna
t
io
na
l J
o
urna
l o
f
Ro
bo
t
ics a
nd
Aut
o
m
a
t
io
n
(
I
J
RA
)
Vo
l.
5
,
No
.
2
,
J
u
n
e
201
6
,
p
p
.
1
09
~
11
4
I
SS
N:
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-
4856
109
J
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p
a
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a
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ID
c
o
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c
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e
v
ice
a
n
d
im
p
le
m
e
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ted
o
n
ro
b
o
t.
I
n
th
is
p
a
p
e
r,
i
n
ste
a
d
o
f
u
sin
g
t
h
a
t
m
a
ss
iv
e
h
a
rd
w
a
r
e
’s,
it
d
e
sig
n
e
d
a
sin
g
le
F
P
GA
c
h
ip
to
p
e
rf
o
r
m
th
e
sa
m
e
m
o
ti
o
n
c
o
n
tro
l
o
f
ro
b
o
t
wh
e
e
ls.
W
e
d
e
v
e
lo
p
e
d
a
g
e
n
e
ra
l
p
u
r
p
o
se
d
m
o
ti
o
n
c
o
n
tr
o
l
o
f
ro
b
o
t
u
si
n
g
a
f
ield
p
ro
g
ra
m
m
a
b
le
g
a
te
a
rra
y
(F
P
G
A
).
In
o
rd
e
r
to
o
b
tain
in
d
e
p
e
n
d
e
n
t
ro
b
o
ts
m
o
v
e
m
e
n
t,
th
e
m
a
in
P
ID
c
o
n
tr
o
ll
e
r
is
im
p
le
m
e
n
ted
w
it
h
a
F
ield
P
r
o
g
ra
m
m
a
b
le
G
a
te
A
rra
y
.
T
h
e
m
a
in
P
ID
c
o
n
tro
ll
e
r
r
o
u
ti
n
e
w
a
s
d
e
sig
n
e
d
to
b
e
f
a
irl
y
g
e
n
e
ra
l
p
u
rp
o
se
a
n
d
m
o
d
u
lar
f
o
rm
.
W
h
il
e
it
is
u
se
d
to
c
o
n
tro
l
a
DC
m
o
to
r,
it
c
o
u
ld
b
e
re
-
d
e
p
lo
y
e
d
to
o
th
e
r
situ
a
ti
o
n
s
w
h
e
re
so
m
e
p
a
r
a
m
e
ter
h
a
s
to
b
e
c
o
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tr
o
ll
e
d
t
o
a
se
t
v
a
lu
e
u
n
d
e
r
v
a
ry
in
g
c
o
n
d
it
io
n
s.
T
h
e
a
c
tu
a
l
c
o
n
tr
o
l
so
f
t
w
a
re
is
lo
c
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ted
in
a
sin
g
le
f
u
n
c
ti
o
n
a
n
d
it
s
m
a
jo
r
in
p
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ts
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n
d
o
u
t
p
u
t
a
re
h
e
ld
i
n
a
str
u
c
tu
re
.
A
lt
h
o
u
g
h
it
w
a
s
d
e
sig
n
e
d
o
rig
i
n
a
ll
y
f
o
r
a
sp
e
c
if
ic
jo
b
it
is
re
a
ll
y
o
n
ly
in
ten
d
e
d
a
s
a
n
e
x
a
m
p
le
o
f
th
e
b
a
sic
tec
h
n
iq
u
e
s
in
v
o
l
v
e
d
a
n
d
to
a
ll
o
w
th
o
se
w
it
h
n
o
c
o
n
tr
o
l
sy
st
e
m
k
n
o
w
led
g
e
to
e
x
p
e
ri
m
e
n
t
w
it
h
a
sim
p
le
P
ID sy
ste
m
.
K
ey
w
o
r
d
:
A
T
m
e
g
a1
2
8
L
Dig
ital
FP
GA
R
o
b
o
t
Co
p
y
rig
h
t
©
201
6
In
s
t
it
u
te o
f
A
d
v
a
n
c
e
d
E
n
g
i
n
e
e
rin
g
a
n
d
S
c
ien
c
e
.
Al
l
rig
h
ts
re
se
rv
e
d
.
C
o
r
r
e
s
p
o
nd
ing
A
uth
o
r
:
A
lire
za
R
ez
ae
e
,
Ass
i
s
tan
t p
r
o
f
ess
o
r
o
f
Dep
ar
tm
en
t o
f
s
y
s
te
m
a
n
d
Me
ch
atr
o
n
ics E
n
g
i
n
ee
r
i
n
g
,
Facu
lt
y
o
f
Ne
w
s
cie
n
ce
s
an
d
t
ec
h
n
o
lo
g
ies
,
Un
i
v
er
s
it
y
o
f
T
eh
r
an
,
T
eh
r
an
,
I
r
an
.
E
m
ail:
ar
r
ez
ae
e@
u
t.a
c.
ir
1.
I
NT
RO
D
UCT
I
O
N
T
h
e
em
er
g
e
n
ce
o
f
r
ec
o
n
f
ig
u
r
a
b
le
Field
Pro
g
r
am
m
ab
le
Gate
A
r
r
a
y
s
(
FP
GA
)
h
a
s
g
i
v
en
r
is
e
to
a
n
e
w
p
latf
o
r
m
o
f
co
m
p
lete
Mo
b
ile
r
o
b
o
t
co
n
tr
o
l
s
y
s
te
m
.
B
y
u
s
in
g
FP
G
A
d
ev
ice
s
,
t
h
e
d
esi
g
n
er
m
a
y
ta
ilo
r
th
e
d
esig
n
to
f
i
t
th
e
r
eq
u
ir
e
m
e
n
t
o
f
co
n
tr
o
l
s
y
s
te
m
f
u
n
ct
io
n
s
f
o
r
a
m
o
b
ile
r
o
b
o
t.
Gen
er
al
-
p
u
r
p
o
s
e
co
m
p
u
ter
ca
n
p
r
o
v
id
e
ac
ce
p
tab
l
e
p
e
r
f
o
r
m
a
n
ce
f
o
r
m
o
b
ile
r
o
b
o
t
co
n
tr
o
l
w
h
en
t
h
e
ta
s
k
s
ar
e
n
o
t
to
o
co
m
p
lex
.
W
h
ile
a
s
i
n
g
le
p
r
o
ce
s
s
o
r
s
y
s
te
m
ca
n
n
o
t
g
u
ar
an
tee
r
ea
l
ti
m
e
r
esp
o
n
s
e
f
o
r
an
y
tas
k
w
h
en
t
h
e
co
m
p
lex
it
y
o
f
task
s
h
a
v
e
b
ee
n
in
cr
ea
s
ed
[
1
-
3
]
,
a
FP
G
A
-
b
ase
d
co
n
tr
o
l
s
y
s
te
m
is
d
esi
g
n
ed
to
s
o
lv
e
t
h
e
p
lat
f
o
r
m
o
f
p
ar
al
lel
tas
k
s
to
ac
h
ie
v
e
co
n
tr
o
l p
r
ec
is
io
n
.
A
FP
G
A
-
b
ased
r
o
b
o
t c
o
n
tr
o
l c
h
ip
i
m
p
r
o
v
es
u
p
o
n
t
h
e
s
i
n
g
le
p
r
o
ce
s
s
o
r
co
m
p
u
ter
i
n
f
o
llo
w
i
n
g
ar
ea
s
:
1.
Scalab
ilit
y
o
f
th
e
co
n
tr
o
l
s
y
s
t
e
m
.
A
FP
G
A
ch
ip
s
ca
n
in
te
g
r
ate
an
d
p
er
f
o
r
m
t
h
e
p
er
v
io
u
s
d
ef
in
ed
ta
s
k
s
ef
f
icien
tl
y
,
e
s
p
ec
iall
y
w
h
e
n
m
o
r
e
task
s
ac
h
iev
i
n
g
ar
e
r
eq
u
ir
ed
.
2.
I
n
cr
ea
s
e
th
e
a
v
ailab
ilit
y
o
f
I
/O
ch
an
n
els.
3.
Dir
ec
tl
y
m
ap
th
e
lo
g
ical
d
esig
n
ed
to
th
e
co
m
p
u
t
in
g
ele
m
en
ts
in
FP
G
A
d
ev
ices.
4.
Su
p
p
o
r
t p
ar
allel
d
esig
n
s
c
h
e
m
e
w
h
ich
lead
s
its
el
f
to
g
u
ar
an
t
ee
th
e
co
n
tr
o
l r
esp
o
n
s
e
ti
m
e,
r
ea
lti
m
e.
5.
L
o
w
p
o
w
er
co
n
s
u
m
p
tio
n
ca
n
b
e
co
m
p
ar
ed
to
th
e
s
in
g
le
p
r
o
ce
s
s
o
r
co
m
p
u
ter
o
r
ev
en
t
h
e
m
icr
o
-
co
n
tr
o
ller
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
9
-
4856
IJ
RA
Vo
l.
5
,
No
.
2
,
J
u
n
e
201
6
:
1
09
–
11
4
110
Fig
u
r
e
1
.
P
r
ev
io
u
s
R
o
b
o
t.
I
n
o
u
r
p
r
ev
io
u
s
r
esear
c
h
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w
e
h
a
v
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b
u
ilt
t
h
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r
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d
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te
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8
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m
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ir
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m
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AR
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T
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e
o
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er
all
s
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te
m
is
s
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o
w
n
in
f
i
g
u
r
e1
an
d
th
e
w
h
o
le
s
y
s
te
m
ap
p
ea
r
s
to
b
e
b
u
lk
y
[
4
-
6
]
.
I
n
th
i
s
p
ap
er
,
in
s
tead
o
f
u
s
i
n
g
th
at
m
a
s
s
i
v
e
h
ar
d
w
ar
e’
s
,
it
d
esig
n
ed
a
s
in
g
le
FP
G
A
ch
ip
t
o
p
er
f
o
r
m
th
e
s
a
m
e
m
o
tio
n
co
n
tr
o
l
o
f
r
o
b
o
t
w
h
ee
l
s
.
W
e
d
ev
elo
p
ed
a
g
en
er
al
p
u
r
p
o
s
ed
m
o
tio
n
co
n
t
r
o
l
o
f
r
o
b
o
t
u
s
in
g
a
f
ield
p
r
o
g
r
a
m
m
ab
le
g
ate
ar
r
a
y
(
FP
GA
)
.
T
h
e
FP
GA
is
k
n
o
wn
as
a
p
r
o
g
r
am
m
ab
le
h
ar
d
w
ar
e
d
ev
ice
th
at
a
u
s
er
ca
n
d
esi
g
n
h
is
/h
er
a
lg
o
r
it
h
m
s
an
d
d
o
w
n
lo
ad
it
to
a
s
i
n
g
le
ch
ip
.
B
y
u
s
in
g
th
e
h
ig
h
m
o
d
i
f
iab
le
ca
p
ac
it
y
o
f
a
FP
GA
,
th
e
ad
d
itio
n
al
h
ar
d
w
ar
e
s
u
ch
a
s
an
en
co
d
er
co
u
n
ter
a
n
d
a
P
W
M
g
en
er
ato
r
ca
n
also
b
e
im
p
le
m
e
n
ted
in
a
s
in
g
le
FP
G
A
d
ev
ice.
As
a
r
esu
lt,
t
h
e
to
tal
co
n
tr
o
lle
r
s
ize
an
d
p
o
w
er
d
is
s
ip
atio
n
a
r
e
ef
f
ec
ti
v
el
y
r
ed
u
ce
d
b
y
u
s
in
g
a
FP
G
A
m
o
tio
n
co
n
tr
o
ller
.
E
x
p
er
i
m
en
t
al
r
esu
lt
s
s
h
o
w
t
h
at
t
h
e
r
o
b
o
t,
f
o
llo
w
s
t
h
e
d
esire
d
s
p
ee
d
tr
aj
e
cto
r
ies [
7
-
9
]
.
2.
O
VE
RA
L
L
S
YST
E
M
T
h
e
n
e
w
d
es
ig
n
ed
s
y
s
te
m
b
lo
ck
d
iag
r
a
m
o
f
r
o
b
o
t
co
n
tr
o
l
is
s
h
o
w
n
in
Fig
u
r
e
2
.
I
t
co
n
s
i
s
ts
o
f
r
o
b
o
t,
a
FP
GA
co
n
tr
o
ller
,
P
C
I
C
ar
d
,
a
m
o
to
r
d
r
iv
er
,
an
d
a
P
C
.
Fig
u
r
e
2.
Ov
er
all
Stru
c
tu
r
e
o
f
R
o
b
o
t
Dif
f
er
en
ce
b
et
w
ee
n
o
f
t
h
e
p
r
ev
io
u
s
m
o
d
el
a
n
d
n
e
w
d
esi
g
n
is
s
h
o
w
n
i
n
f
i
g
u
r
e
1
,
w
h
er
e
a
FP
GA
i
s
r
ep
lace
d
f
o
r
s
ev
er
al
MCUs
o
r
I
SA
ca
r
d
.
T
h
e
P
C
co
m
m
u
n
ica
tes
to
P
C
I
ca
r
d
th
r
o
u
g
h
a
P
C
I
s
lo
t.
T
h
e
P
C
I
ca
r
d
co
m
m
u
n
icate
s
w
it
h
a
FP
GA
ch
ip
to
tr
an
s
f
er
d
esire
d
s
p
ee
d
an
d
co
n
tr
o
ller
g
ai
n
s
at
ea
ch
s
a
m
p
li
n
g
ti
m
e.
T
h
e
FP
GA
c
h
ip
p
r
o
g
r
a
m
m
ed
o
r
P
I
D
co
n
tr
o
ller
g
en
er
ates
P
W
M
s
ig
n
al
s
to
m
o
to
r
d
r
iv
er
s
.
T
h
en
ea
ch
m
o
to
r
i
s
ac
tu
ated
an
d
ea
ch
m
o
to
r
’
s
e
n
c
o
d
er
m
ea
s
u
r
e
m
e
n
t i
s
tr
an
s
f
er
r
ed
to
FP
GA
ch
ip
f
o
r
m
a
k
i
n
g
p
o
s
itio
n
al
er
r
o
r
s
.
W
e
also
d
ev
elo
p
ed
a
P
C
GUI
p
r
o
g
r
am
f
o
r
an
ef
f
icie
n
t i
n
ter
f
ac
e
co
n
tr
o
l b
et
w
ee
n
a
m
o
to
r
an
d
a
P
C
.
Th
e
GUI
h
as
s
e
v
er
al
f
u
n
ctio
n
s
s
u
c
h
a
s
s
etti
n
g
o
f
P
I
D
c
o
n
tr
o
l
p
ar
a
m
eter
s
,
d
o
w
n
lo
ad
i
n
g
o
f
t
h
e
tr
aj
ec
to
r
y
,
d
is
p
la
y
i
n
g
t
h
e
co
n
tr
o
l
s
tates,
an
d
s
o
o
n
.
A
u
s
er
ca
n
s
p
ec
i
f
y
P
I
D
co
n
tr
o
ller
g
ain
s
t
h
r
o
u
g
h
GUI
p
r
o
g
r
am
i
n
P
C
.
T
h
o
s
e
g
ain
s
ar
e
tr
an
s
m
it
ted
th
o
u
g
h
a
P
C
I
co
m
m
u
n
ica
tio
n
to
a
P
C
I
ca
r
d
w
ith
W
in
d
r
iv
e
r
f
u
n
ctio
n
.
A
n
d
t
h
en
it
s
en
d
t
h
e
m
to
a
FP
GA
.
T
h
e
in
ter
f
ac
i
n
g
GUI
p
r
o
g
r
a
m
h
elp
s
t
h
e
u
s
er
s
to
m
an
ip
u
lat
e
co
n
tr
o
ller
’
s
g
ai
n
s
an
d
to
o
b
s
er
v
e
t
h
e
r
esp
o
n
s
e
o
f
ea
ch
m
o
to
r
.
Fig
u
r
e
3
an
d
4
s
h
o
w
s
t
h
e
GUI
w
i
n
d
o
w
t
h
at
h
a
s
m
a
n
y
f
u
n
ctio
n
s
.
E
ac
h
p
ar
t h
as t
h
e
f
o
llo
w
i
n
g
f
u
n
ctio
n
:
1
-
Mo
tio
n
co
n
tr
o
l p
ar
t (
s
tar
t,
s
to
p
)
2
-
P
I
D
g
ain
s
elec
tio
n
3
-
T
r
a
j
ec
to
r
y
p
lan
n
er
4
-
Mo
to
r
s
Selectio
n
5
-
Diag
n
io
s
e
o
f
P
C
I
ca
r
d
Evaluation Warning : The document was created with Spire.PDF for Python.
IJ
RA
I
SS
N:
2089
-
4856
Mo
b
ile
R
o
b
o
t F
r
a
mewo
r
k
Desig
n
in
g
a
n
d
Tr
a
n
sf
er
r
in
g
o
f D
a
t
a
b
y
P
C
I
C
o
n
tr
o
ller
(
A
lir
e
z
a
R
eza
ee
)
111
Fig
u
r
e
3.
GUI
o
n
P
C
3.
P
I
D
CO
NT
RO
L
L
E
R
O
N
F
P
G
A
3
.
1
.
O
v
er
a
ll St
ruct
ure
T
h
e
P
I
D
co
n
tr
o
l
m
eth
o
d
is
v
e
r
y
s
i
m
p
le
an
d
i
m
p
o
r
ta
n
t,
esp
ec
iall
y
in
r
o
b
o
t
co
n
tr
o
l
ap
p
licatio
n
s
.
T
h
e
P
I
D
co
n
tr
o
ller
s
ar
e
i
m
p
le
m
e
n
ted
in
a
FP
G
A
ch
ip
h
a
v
in
g
(
Sp
ar
tan
I
I
)
1
5
0
,
0
0
0
g
ates
m
ad
e
f
r
o
m
Xili
n
x
co
m
p
a
n
y
.
T
h
e
d
esig
n
o
f
P
I
D
m
o
tio
n
co
n
tr
o
ller
is
p
r
o
g
r
a
m
m
ed
b
y
I
SE6
.
2
.
Fig
u
r
e
4.
P
I
D
GUI
Fig
u
r
e
5
s
h
o
w
s
t
h
e
s
c
h
e
m
a
tic
d
esig
n
o
f
th
e
co
n
tr
o
ller
.
T
h
e
FP
GA
b
ased
P
I
D
co
n
tr
o
ller
co
n
s
is
ts
o
f
s
ev
er
al
b
lo
ck
s
s
u
c
h
as
a
co
m
m
u
n
icat
io
n
b
lo
ck
,
an
e
n
co
d
er
co
u
n
ter
b
lo
ck
,
a
P
I
D
ca
lcu
l
atio
n
b
lo
ck
,
an
d
a
P
W
M
g
en
er
atio
n
b
lo
ck
.
T
ab
le
1
lis
ts
f
u
n
ct
io
n
s
o
f
ea
ch
p
in
s
h
o
w
i
n
F
i
g
u
r
e
5
.
Fig
u
r
e
5
.
T
h
e
d
es
ig
n
o
f
m
o
t
io
n
co
n
tr
o
ller
o
n
I
SE
3
.
2
.
T
he
Co
mm
u
nica
t
io
n B
lo
ck
I
t
r
ec
eiv
es
P
I
D
g
ai
n
s
an
d
d
e
s
ir
ed
tr
aj
ec
to
r
y
,
an
d
tr
an
s
f
er
s
en
co
d
er
d
ata
f
r
o
m
t
h
e
co
n
tr
o
ller
to
a
FP
GA
w
h
e
n
ev
er
t
h
e
y
ar
e
n
ee
d
ed
.
Data
is
w
r
i
tin
g
f
r
o
m
t
h
e
P
C
to
FP
GA
to
th
e
m
o
tio
n
co
n
t
r
o
ller
in
clu
d
ed
P
I
D
g
ain
s
,
e
n
ab
le
/d
is
ab
le,
a
n
d
t
h
e
m
o
tio
n
co
n
tr
o
ller
r
e
s
et.
T
ab
le
2
s
h
o
w
s
co
m
m
a
n
d
s
an
d
th
eir
d
ata
e
n
co
d
er
.
Data
is
r
ea
d
f
r
o
m
t
h
e
m
o
tio
n
co
n
tr
o
ller
to
an
MCU.
Si
n
ce
th
e
s
ize
o
f
en
c
o
d
er
d
ata
is
1
6
b
i
t,
it
s
h
o
u
ld
b
e
r
ea
d
as h
i
g
h
a
n
d
lo
w
b
y
tes s
ep
ar
ate
l
y
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
9
-
4856
IJ
RA
Vo
l.
5
,
No
.
2
,
J
u
n
e
201
6
:
1
09
–
11
4
112
T
ab
le
1.
T
h
e
P
in
n
a
m
e
an
d
it
s
f
u
n
ctio
n
Ta
ble
2
.
C
omm
unica
ti
on c
omm
a
nd
3
.
3
.
M
o
t
o
r
C
o
ntr
o
l B
lo
ck
Fig
u
r
e
6
s
h
o
w
s
t
h
e
m
o
to
r
co
n
t
r
o
l b
lo
ck
.
I
t c
o
n
s
is
ts
o
f
e
n
co
d
er
co
u
n
ter
,
P
I
D
co
n
tr
o
ller
,
an
d
P
W
M
g
en
er
ato
r
.
T
h
e
clo
ck
s
y
n
c
h
r
o
n
izes t
h
e
p
r
o
ce
s
s
.
I
t
g
e
n
er
ates
t
h
e
tr
i
g
g
er
s
i
g
n
a
l a
t e
ac
h
1
K
H
Z
s
a
m
p
li
n
g
t
i
m
ea
n
d
s
en
d
s
it
to
en
co
d
er
co
u
n
ter
b
l
o
ck
an
d
P
I
D
co
n
tr
o
ller
b
lo
ck
an
d
it
s
y
n
c
h
r
o
n
ize
t
h
e
p
r
o
ce
s
s
o
f
e
n
co
d
er
co
u
n
ter
an
d
P
I
D
co
n
tr
o
ller
.
Fig
u
r
e
6
.
T
h
e
s
tr
u
ctu
r
e
o
f
m
o
t
o
r
co
n
tr
o
l b
lo
ck
Fig
u
r
e
7.
T
h
e
d
esig
n
e
d
s
y
m
b
o
l o
f
m
o
to
r
co
n
tr
o
l b
lo
ck
Fig
u
r
e
7
s
h
o
w
s
th
e
d
es
ig
n
ed
m
o
to
r
co
n
tr
o
l
s
y
m
b
o
l.
I
t
tak
es
P
I
D
g
ai
n
s
,
a
clo
ck
,
a
tr
i
g
g
er
s
i
g
n
al,
en
co
d
er
s
ig
n
a
ls
,
a
r
eset si
g
n
al
as in
p
u
t a
n
d
P
W
M
s
ig
n
a
l a
n
d
en
co
d
er
co
u
n
ter
v
al
u
es a
s
o
u
t
p
u
t.
Fig
u
r
e
8
. T
h
e
s
tr
u
ctu
r
e
o
f
en
c
o
d
er
co
u
n
ter
Evaluation Warning : The document was created with Spire.PDF for Python.
IJ
RA
I
SS
N:
2089
-
4856
Mo
b
ile
R
o
b
o
t F
r
a
mewo
r
k
Desig
n
in
g
a
n
d
Tr
a
n
sf
er
r
in
g
o
f D
a
t
a
b
y
P
C
I
C
o
n
tr
o
ller
(
A
lir
e
z
a
R
eza
ee
)
113
3
.
3
.
1
.
E
nco
der
Co
un
t
er
B
lo
c
k
I
t
co
u
n
t
s
a
n
d
d
eter
m
i
n
es
t
h
e
d
ir
ec
tio
n
o
f
m
o
to
r
r
o
tatio
n
f
r
o
m
en
co
d
er
s
i
g
n
al.
T
h
e
b
lo
ck
d
iag
r
a
m
is
s
h
o
w
n
i
n
F
i
g
u
r
e
8
.
T
h
e
Dif
f
er
en
ce
in
p
h
ase
s
A
a
n
d
B
d
eter
m
i
n
es
th
e
d
ir
ec
tio
n
o
f
r
o
tatio
n
.
No
is
e
o
f
a
m
ec
h
a
n
ical
s
y
s
te
m
ca
n
b
e
f
il
ter
ed
o
u
t
b
y
d
ig
ita
l
f
il
ter
s
s
h
o
w
n
in
f
ig
u
r
e
8
.
E
v
er
y
tr
ig
g
e
r
s
ig
n
a
l
en
ab
les
to
g
en
er
ate
co
u
n
ter
v
a
lu
e
s
.
1
6
b
it o
f
co
u
n
ter
li
m
it
s
th
e
r
a
n
g
e
o
f
th
e
m
o
v
e
m
en
t
s
.
3
.
3
.
2
.
P
I
D
Co
ntr
o
ller
B
lo
ck
P
I
D
co
n
tr
o
ller
b
lo
ck
r
ec
eiv
es
en
co
d
er
d
ata
f
r
o
m
th
e
e
n
co
d
er
co
u
n
ter
b
lo
c
k
a
n
d
co
m
p
ar
es
t
h
e
m
w
it
h
d
esire
d
v
alu
es to
g
en
er
ate
p
o
s
i
tio
n
al
er
r
o
r
s
an
d
th
en
g
e
n
er
ate
P
I
D
co
n
tr
o
ller
s
.
P
I
D
co
n
tr
o
ll
er
eq
u
atio
n
s
ar
e
(
)
(
)
(
)
*
(
)
(
)
+
(
1
)
(
)
{
∑
(
)
∑
(
)
∑
(
)
∑
(
)
(
2
)
(
)
is
co
n
tr
o
l in
p
u
t,
(
)
is
er
r
o
r
,
ar
e
P
I
D
g
ai
n
s
,
is
a
th
r
es
h
o
ld
v
alu
e.
Fig
u
r
e
9.
Ti
m
in
g
d
iag
r
a
m
o
f
t
h
e
s
i
m
u
latio
n
o
f
P
I
D.
4.
AVR
M
I
CRO
CO
NT
RO
L
L
E
R
CO
DE
T
h
e
m
ai
n
P
I
D
co
n
tr
o
ller
r
o
u
tin
e
w
as
d
esi
g
n
ed
to
b
e
f
air
l
y
g
en
er
al
p
u
r
p
o
s
e
an
d
m
o
d
u
lar
f
o
r
m
.
W
h
il
e
it
is
u
s
ed
to
co
n
tr
o
l
a
DC
m
o
t
o
r
,
it
co
u
ld
b
e
r
e
-
d
ep
lo
y
ed
to
o
th
er
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RE
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S
[1
]
Jin
g
o
Kim
,
S
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u
Kim
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S
a
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l
J
u
n
g
.
Im
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Ba
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rs
.
ICCAS
.
2
0
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2
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4
.
[2
]
G
.
W
.
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s,
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A
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El
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[3
]
h
tt
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:
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.
[4
]
A
.
C.
V
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o
,
P
.
Riv
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s,
J.J.
Bo
r
re
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,
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Na
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[5
]
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Du
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M
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.
[6
]
M
.
Qu
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S
tav
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s,
A
.
Co
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s,
a
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In
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[7
]
G
.
Grise
tt
i,
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Ku
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S
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F
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[8
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[9
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[1
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M
.
Cristea
,
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o
r
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M
.
M
c
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;
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P
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1
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A
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J
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l
.
1
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(
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).
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2
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3
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4
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