Multi-knuckle robot control system based on FPGA (Field Programmable Gate Array) and control method thereof

Abstract

The invention discloses a multi-knuckle robot control system based on an FPGA (Field Programmable Gate Array) and a control method thereof. The control system comprises a complete movement control end, an instruction parsing module and an RAM (Random-Access Memory) control group, wherein the complete movement control end is in electrical communication connection with the instruction parsing module; the RAM control group comprises RAM major movements and RAM shafts; each RAM major movement receives and stores a corresponding RAM instruction from the instruction parsing module; the RAM instruction of each RAM major movement is used for controlling a corresponding movement to move; each RAM shaft receives and stores a corresponding RAM instruction from the instruction parsing module; the RAM instruction of each RAM shaft is used for controlling a corresponding shaft to move; the instruction parsing module is respectively in electrical communication connection with the RAM major movements and the RAM shafts; the RAM major movements and the RAM shafts are respectively in electrical communication connection with implementation control modules. According to the control system and the control method, only one logical analysis is applied to controlling the movement of a robot, so that the control is simpler, more convenient and quicker, and the complete movement of the robot is smoother and more ordered.

Description

technical field [0001] The invention relates to the technical field of robot control, in particular to an FPGA-based multi-knuckle robot control system and a control method thereof. Background technique [0002] In the traditional system that uses FPGA to control the multi-knuckle robot, the robot control system mainly relies on the parallelism advantage of FPGA. Most of the control of the multi-knuckle motion is concentrated in the control chip, and the control chip stores a complete set of control of the planned action. command, and then through multi-level logic operation and logic analysis, the motion control of each axis is realized step by step, so as to realize the continuous progress of the whole set of robot motion. like figure 1 As shown in the figure, the control terminal sends out a whole set of planning action commands, and the whole set of planning actions is decomposed into several large actions (big action 1 ~ big action n) through the logic of the control c...

AI Technical Summary

Problems solved by technology

The sequential feedback of axes, small actions, and large actions forms a nesting process, so each movement needs to go through four layers of judgments to get the motion command information, especially for the loop part, each judgment needs to go through three times of nesting. Set, when the action is complicated or the loop logic is complicated, the control method and logic analysis will become very complicated, which will affect the robot's motion response efficiency

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