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

A main controller, robot technology, applied in sequence/logic controller program control, electrical program control and other directions, can solve the problems of high energy consumption, bulky, low integration, etc., to achieve low energy consumption, small size , the effect of reducing the size

Inactive Publication Date: 2012-03-28
BEIJING UNIV OF POSTS & TELECOMM
View PDF4 Cites 32 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

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

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Embedded multinuclear main controller of modular robot based on FPGA (Field Programmable Gata Array)
  • Embedded multinuclear main controller of modular robot based on FPGA (Field Programmable Gata Array)
  • Embedded multinuclear main controller of modular robot based on FPGA (Field Programmable Gata Array)

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0027] The implementation of the present invention will be described in detail below in conjunction with the accompanying drawings. This embodiment is implemented on the premise of the technical solution of the present invention, and the detailed implementation and specific operation process are given.

[0028] see figure 1 As shown, the internal structure of the on-chip multi-core main controller includes: Nios II soft-core processor, DSP coprocessor module, Avalon bus module, CAN bus control module, system clock module, watchdog and reset system module, JTAG interface module , Memory control module (FLASH memory, SDRAM memory, EPCS memory). Among them, the main control module is Nios II soft-core processor, which is connected with DSP coprocessor, system clock module, watchdog and reset system module, JTAG interface module, CAN bus control module and memory control module through Avalon bus module.

[0029] see figure 2 In the overall system structure shown, the FPGA chip...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

PUM

No PUM Login to view more

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...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

Application Information

Patent Timeline
no application Login to view more
Patent Type & Authority Applications(China)
IPC IPC(8): G05B19/04
Inventor 孙汉旭贾庆轩叶平曾祥宇张丹魏楠哲
Owner BEIJING UNIV OF POSTS & TELECOMM
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Try Eureka
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap