Embedded multinuclear main controller of modular robot based on FPGA (Field Programmable Gata Array)

Abstract

The invention discloses an embedded multinuclear main controller based on an FPGA (Field Programmable Gata Array) chip in the technical field of robot control. The main controller integrates two main modules, namely a Nios II soft core processor and a DSP (Digital Signal Processing) coprocessor, wherein the Nios II soft core processor communicates with a system clock module, a watchdog and resetting system module, a JTAG interface module, a CAN serial bus control module and a memorizer control module by an Avalon bus module; as a hardware computing core, the DSP coprocessor communicates with a Nios II soft core by the Avalon bus module; and the Nios II soft core is responsible for the movement planning of a robot and the communication of each controller at each joint, and the coprocessor is responsible for kinetic resolving. The embedded multinuclear main controller adopts the Nios II soft core as a communication core and the coprocessor as a computing core to realize the rapid and stable control and reduce energy consumption and the volume.

Description

technical field [0001] The invention relates to the field of robot control, in particular to an FPGA-based embedded multi-core main controller for modular robots. Background technique [0002] In the field of robot control technology, the problem of robot control has been the research topic of many scholars in the field of control. Almost all the methods provided by modern control theory have been tried on the control system. [0003] With the continuous expansion of robot application fields (assembly, welding, medical surgery, space operations), higher and higher requirements are put forward for the robot's operating performance, which also puts forward higher requirements for the robot's control system performance. Require. Among them, the main controller of the robot is the most critical part of the whole control system. Therefore, how to develop a standardized and modular robot control system with an open structure is undoubtedly of great significance for improving rob...

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Problems solved by technology

[0005] In order to solve the problems of low integration, high energy consumption and relatively large size of the current robot main controller, the present invention provides an FPGA-based modular robot embedded multi-core main controller, which integrates processor cores with different functions into a single On the FPGA chip, CAN bus is used to communicate with each joint controller

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