Grzegorz Karpiel

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The paper presents the process of development of parallel manipulators for milling, and justifies why mechatronic approach can lead to successes. The resulting construction is a novel, versatile 3-RRPRR (revolute-revolute-prismatic-revolute-revolute joints), fully-parallel manipulator with three translational degrees of freedom, characterizing in(More)
The paper presents problems related to implementation of control algorithms in FPGA. Proposed solution is based on System-on-Programmable-Chip architecture with soft-processor that allows for mixed, hardware/software implementation and exploration of possible control algorithm realizations, and semi-automatic implementation of custom components in FPGA. The(More)
The paper presents an application of field programmable gate arrays (FPGA) to support the calculation of the inverse kinematics problem of a parallel robot. The presented robot is designed for milling by moving the spindle along a desired trajectory generated in the Cartesian space. This means that for each point of the trajectory a solution of the inverse(More)
Quality improvement of a manufactured product is a natural process accompanying the development of civilization. Nowadays, designed machines are much more accurate and efficient. In addition, the flexibility of production needs to increase functionality built machines. Among all machines assigned for manufacturing purposes, milling machines play a(More)
The paper presents problems related to implementation of control algorithms in FPGA. Proposed solution is based on system-on-programmable-chip architecture with soft-processor that allows for mixed, hardware/software implementation and exploration of possible control algorithm realizations. The case study is a neural controller for 3-DOF parallel robot for(More)
A trajectory generator is one of the most important part of CNC (Computer Numerical Control) machine control systems. It has to ensure the smooth tool movement and feed rate changes, which can be done with a limit imposed on the jerk. The paper presents an application of field programmable gate arrays (FPGA) to accelerate calculations needed for trajectory(More)
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