VHDL Project : Design of a ROBOT

1. VHDL Project : Design of a ROBOT -Anuja Kumar

2. 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.

3. Inputs : Sensors- decides unloading station-requesting station Source-decides loading station

4. Flowchart

5. SIMPLISTIC STATE MACHINE

6. 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

7. Simulation Results:Load S4-Unload S3

8. Simulation results: Load S3-unload S4

9. Simulation results: Load S2-Unload S1

10. Simulation results: Load S1-Unload S2

11. Simulation results: Load L-Unload S3

12. Simulation results: Interrupt

13. Thank you..