Design and Implementation of the Precise Control System for the Robotic Arm Based on FPGA

With the widespread application of robotic arms in industrial automation, and medical and service robots, improving their precise control capabilities has become a technical problem that needs to be solved urgently. Traditional control methods have limitations in dealing with target object deviation and motion accuracy, especially in complex tasks. To solve this problem, this paper proposes an innovative robotic arm motion optimization method, the "somersault" method, which significantly improves the grasping accuracy and motion stability of the robotic arm by decomposing the large-angle rotation of the robotic arm chassis into multiple small-angle continuous rotations. Especially when the target object is located on the negative semi-axis, it can effectively expand the grasping range of the robotic arm. This paper also optimizes the inverse kinematics, spatial solution and PID control algorithms of the robotic arm, and realizes efficient image processing and real-time control through FPGA. Experimental results show that after adopting the "somersault" method, the accuracy and stability of the robotic arm in complex environments are significantly improved, and it can quickly switch between multiple targets and accurately complete the grasping task. This method not only improves the control accuracy of the robotic arm, but also provides a new technical path for future applications in industrial automation, intelligent manufacturing.