VHDL Project : Design of a ROBOT

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VHDL Project Design of a ROBOT

• -Anuja Kumar

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Specifications and Assumptions

• 1) 5 degrees of movement
• Base movement (A)
• Shoulder movement (B)
• Arm movement (C)
• Wrist Movement (D)
• Claw movement (E)
• 2) Five stations- L, S1, S2, S3 and S4 that can
  load and unload the robot arm and have priorities
  from highest to lowest respectively.
• 3) Load and Unload at same station is not done.
• 4) Loading operation at any station consequential
  of an unloading operation requested by a lower
  priority station can be interrupted by an
  unloading operation request by a higher priority
  station.
• 5) Unloading operations cannot be interrupted.

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Inputs
Sensors- decides unloading station-requesting
station
SENSORS UNLOAD STATION and DEST
00001 L
00010 S1
00100 S2
01000 S3
10000 S4
Source-decides loading station
SOURCE LOAD STATION
000 L
001 S1
010 S2
011 S3
100 S4
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Flowchart
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SIMPLISTIC STATE MACHINE
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Test Bench

• Load at S4 and unload requests from S3,S2,S1,L
• Load at S3 and unload requests from S4,S2,S1,L
• Load at S2 and unload requests from S4,S3,S1,L
• Load at S1 and unload requests from S4,S3,S2,L
• Load at L and unload requests from S4,S3,S2,S1
• Reset between each of the above scenarios
• Clock toggling every 50 ns

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Simulation ResultsLoad S4-Unload S3
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Simulation results Load S3-unload S4
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Simulation results Load S2-Unload S1
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Simulation results Load S1-Unload S2
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Simulation results Load L-Unload S3
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Simulation results Interrupt
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Thank you..