摘要：Abstract: Regarding the fact that the industrial robot PUMA 560 is one of the robots with the best mathematical description of its kinematics, it found the new application in the research laboratories for educational purposes. For that reason there is a need to design new controllers which would be compatible with the contemporary CAD tools used for robot movement programming in a graphic manner. Basically, new controllers can be divided into two groups: PC-based and with embedded computer. It is well established that PC computers are known for their unreliability and sensitivity to computer viruses and the suggestion is that the stated shortcomings should be overcome by the use of FPGA based embedded computers. In this paper is suggested FPGA based controller which has to answer the following requirement of the hypothesis: realisation of the robot controller based on FPGA chip (single chip) which contributes the system availability and safety while answering all the functional, safety and economical requirements. The new controller will enable the use of advance CAD tools which is one of the aims of the research.
