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 :
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SENSORS UNLOAD STATIONand DEST
00001 L
00010 S1
00100 S2
01000 S3
10000 S4
SOURCE LOAD STATION
000 L
001 S1
010 S2
011 S3
100 S4
Sensors- decides unloading station-requesting station
Source-decides loading station
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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 Results:Load 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..