Robot control system

Abstract

Provided is a robot control system, comprising: a main control module, which is used for deploying robot control system software, and generating a control signal on the basis of sensor data, wherein the sensor data is transmitted from a real-time sub-module to the main control module by means of a PCI-e bus, and the control signal is an execution instruction of the real-time sub-module; and the real-time sub-module, which is used for receiving the control signal transmitted by the main control module by means of the PCI-e bus, wherein hardware clocks of the main control module and the real-time sub-module are kept synchronized. Compared with a robot control system in the related art, a PCI-e bus is used to transmit data between a main control module and a real-time sub-module, such that the transmission rate of each channel can reach a plurality of Gb / s, high-bandwidth communication can be realized and the delay of data transmission can be reduced. Hardware clocks of the main control module and the real-time sub-module are kept synchronized, such that the high real-time performance of a system can be achieved, and the clock deviation and jitter can be reduced, thereby ensuring that a synchronization error is less than 1 microsecond.

Description

A robot control system Technical Field

[0001] This invention belongs to the field of robotics technology, and more specifically, relates to a robot control system. Background Technology

[0002] In robot control systems, there are typically various modules that communicate with the motion control system using different methods. The communication data between these modules not only requires high real-time and synchronization performance, but also, with the development of motion control algorithms, the communication cycle needs to be shorter to achieve real-time communication, and the data volume and throughput are also increasing.

[0003] In related technologies, industrial Ethernet bus (EtherCAT) is used to transmit data between modules. However, the bandwidth of industrial Ethernet bus is generally 100Mbps, which does not meet the ultra-high bandwidth standard and cannot meet the requirements of high-speed transmission. This can easily lead to large transmission delays and limit the control response capability of robot control systems.

[0004] It should be noted that the information disclosed in the background section above is only used to enhance the understanding of the background of this application, and therefore may include information that does not constitute prior art known to those skilled in the art.

[0005] Summary of the Invention

[0006] The purpose of this invention is to provide a robot control system that solves the problems of large data transmission delay and poor real-time performance in related technologies.

[0007] In some embodiments, this application provides a robot control system, the system comprising:

[0008] The main control module is used to deploy the robot control system software and generate control signals based on sensor data. Sensor data is transmitted from the real-time submodule to the main control module via the PCI-e bus, and the control signals are the execution instructions of the real-time submodule.

[0009] The real-time submodule is used to receive control signals transmitted by the main control module via the PCI-e bus.

[0010] The hardware clocks of the main station module and the real-time sub-module are kept synchronized.

[0011] In some embodiments, the real-time submodule includes:

[0012] The real-time industrial bus expansion unit is used to transmit sensor data to the master module via the PCI-e bus;

[0013] The servo drive unit is used to receive control signals transmitted by the master module through the PCI-e bus, and to drive the robot joint motors according to the control signals.

[0014] The hardware clocks of the main station module and the real-time sub-module are kept synchronized, including:

[0015] The hardware clocks of the real-time industrial bus expansion unit, master module, and servo drive unit are kept synchronized.

[0016] In some embodiments, the hardware clocks of the real-time industrial bus expansion unit, the master module, and the servo drive unit are kept synchronized, including:

[0017] Use the master control clock corresponding to the master control module as the synchronization reference;

[0018] The real-time industrial bus clock is kept synchronized with the main control clock through the clock synchronization signal of the PCI-e bus. The real-time industrial bus clock is the clock corresponding to the real-time industrial bus expansion unit.

[0019] The servo clock is synchronized with the master clock via the clock synchronization signal of the PCI-e bus. The servo clock is the clock corresponding to the servo drive unit.

[0020] In some embodiments, the joint motors on the robot body are connected to the servo drive unit via UVW power cables.

[0021] In some embodiments, the system further includes: a sensor acquisition system, mounted on the robot body, for transmitting sensor data to a real-time industrial bus expansion unit via a real-time industrial bus.

[0022] In some embodiments, the system further includes: real-time periodic data starting from the data locked by the sensor acquisition system and ending when the servo drive unit outputs a motor control signal; the motor control signal is used to control the joint motor.

[0023] In some embodiments, the DC-sync signal of the real-time industrial bus expansion unit is used as the synchronization reference for the task.

[0024] In some embodiments, the main control module employs a real-time operating system.

[0025] In some embodiments, the hardware architecture of the real-time submodule adopts Xilinx's XC7Z015 series FPGA chip, and the FPGA chip uses parallel computing.

[0026] In some embodiments, the FPGA chip includes:

[0027] The PCI-e communication module uses Xilinx's DMA / Bridge subsystem technology applied to PCI-e for periodic data interaction with the servo motor algorithm module.

[0028] The servo motor algorithm module is used to execute motor current loop PI control and motor vector control algorithms using the VHDL logic language.

[0029] The hardware interface module, including various hardware driver interfaces, and the servo motor algorithm module use the AXI4 Stream protocol for data transmission.

[0030] In the technical solution of this application, the robot control system includes: a main control module, used to deploy robot control system software and generate control signals based on sensor data; sensor data is transmitted from the real-time submodule to the main control module via a PCI-e bus, and the control signals are execution instructions of the real-time submodule; the real-time submodule is used to receive the control signals transmitted by the main control module via the PCI-e bus; the hardware clocks of the main control module and the real-time submodule are kept synchronized. Compared with robot control systems in related technologies, using the PCI-e bus to transmit data between the main control module and the real-time submodule allows for a transmission rate of multiple Gb / s per channel, achieving high-bandwidth communication and reducing data transmission latency. Furthermore, keeping the hardware clocks of the main control module and the real-time submodule synchronized enables high real-time performance, reduces clock skew and jitter, and ensures a synchronization error of less than 1 microsecond.

[0031] It should be understood in this application that the above general description and the following detailed description are exemplary and explanatory only, and are not intended to limit this application. Attached Figure Description

[0032] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application. It is obvious that the drawings described below are merely some embodiments of this application, and those skilled in the art can obtain other drawings based on these drawings without any inventive effort.

[0033] Figure 1 schematically illustrates the architecture of a robot control system provided in one embodiment of this application.

[0034] Figure 2 schematically illustrates the architecture of a robot control system provided in one embodiment of this application.

[0035] Figure 3 schematically illustrates the timing diagram of a robot control system provided in an embodiment of this application.

[0036] Figure 4 schematically illustrates the clock architecture diagram of a real-time submodule provided in an embodiment of this application.

[0037] Figure 5 schematically illustrates the system architecture diagram of a servo drive unit provided in an embodiment of this application. Detailed Implementation

[0038] Exemplary embodiments will now be described more fully with reference to the accompanying drawings. However, these exemplary embodiments can be implemented in many forms and should not be construed as limited to the examples set forth herein; rather, these embodiments are provided to make this application more comprehensive and complete, and to fully convey the concept of the exemplary embodiments to those skilled in the art.

[0039] Furthermore, the features, structures, or characteristics described in this application can be combined in any suitable manner in one or more embodiments. In the following description, numerous specific details are provided to give a thorough understanding of embodiments of this application. However, those skilled in the art will recognize that the technical solutions of this application can be practiced without one or more of the specific details, or other methods, components, apparatuses, steps, etc., can be employed. In other instances, well-known methods, apparatuses, implementations, or operations are not shown or described in detail to avoid obscuring various aspects of this application.

[0040] The block diagrams shown in the accompanying drawings are merely functional entities and do not necessarily correspond to physically independent entities. That is, these functional entities can be implemented in software, in one or more hardware modules or integrated circuits, or in different network and / or processor devices and / or microcontroller devices.

[0041] One embodiment of this application provides a robot control system, as shown in Figure 1. The system includes a main control module and a real-time submodule. The main control module, also known as the master station, is used to deploy the robot control system software and is responsible for overall control logic, algorithm calculation, and task scheduling. The main control module can generate control signals based on sensor data.

[0042] Robot control system software is the software program that controls the operation of the robot system. Sensor data is transmitted from the real-time submodule to the main control module via the PCI-e bus. Control signals refer to the execution instructions of the real-time submodule, such as the control torque command of the real-time submodule.

[0043] PCI-e bus (Peripheral Component Interconnect Express) is a high-speed serial computer expansion bus standard used for connecting internal computer hardware devices. Key features of the PCI-e bus include high-speed serial transmission, point-to-point connection, scalability, and hot-plugging. High-speed serial transmission provides higher data transfer rates and lower power consumption, while point-to-point connection allows real-time submodules to be directly connected to the main control module, reducing signal interference and transmission latency.

[0044] The real-time submodule is a module that synchronizes with the main control module in real time. The real-time submodule can transmit sensor data to the main control module via the PCI-e bus, and can also receive control signals transmitted by the main control module via the PCI-e bus. In other words, the main control module and the real-time submodule transmit data through the PCI-e bus.

[0045] In a task execution cycle of at least 100 microseconds, the main control module requires a significant amount of time to execute its main task, leaving very little time for data transmission. Therefore, the data latency must be less than tens of microseconds to ensure that the real-time submodule receives control signals within the task execution cycle. Otherwise, the real-time submodule can only receive control signals after the main task's execution cycle. The relevant technology uses an industrial Ethernet bus (EtherCAT) to transmit data between modules. However, due to the low transmission rate of the industrial Ethernet bus, the real-time submodule can only receive control signals after the main task's execution cycle, resulting in significant latency and preventing synchronization between the main control module and the real-time submodule.

[0046] This application uses the PCI-e bus for data transmission, enabling high real-time, low-latency, and high-bandwidth communication. Furthermore, by synchronizing the hardware clocks of the master module and the real-time submodule, it ensures that the physical time bases of the master module and the real-time submodule are consistent. Additionally, techniques such as source synchronization, multi-channel operation, and source-end retiming can be employed to further reduce clock skew and jitter, ensuring a synchronization error of less than 1 microsecond.

[0047] In the technical solution of this application, the robot control system includes: a main control module, used to deploy robot control system software and generate control signals based on sensor data; sensor data is transmitted from the real-time submodule to the main control module via a PCI-e bus, and the control signals are execution instructions of the real-time submodule; the real-time submodule is used to receive the control signals transmitted by the main control module via the PCI-e bus; the hardware clocks of the main control module and the real-time submodule are kept synchronized. Compared with robot control systems in related technologies, this application uses a PCI-e bus to transmit data between the main control module and the real-time submodule, with each channel achieving a transmission rate of multiple Gb / s, enabling high-bandwidth communication and reducing data transmission latency. Furthermore, keeping the hardware clocks of the main control module and the real-time submodule synchronized ensures high real-time performance, reduces clock skew and jitter, and ensures a synchronization error of less than 1 microsecond.

[0048] The robot body has many precision sensors, such as position sensors, torque sensors, and vision sensors. The sensor data collected by these sensors needs to be transmitted to the main control module in real time so that the main control module can monitor and adjust the robot's status in real time. These sensors are generally mounted on the robot body, some distance from the control cabinet, and have high real-time requirements. To facilitate communication between the main control module and these sensors, and to meet certain real-time requirements, in some embodiments, as shown in Figure 2, the real-time submodule may include a real-time industrial bus expansion unit. The real-time industrial bus expansion unit is used to transmit sensor data to the master station module via the PCI-e bus. It should be noted that the real-time industrial bus expansion unit does not transmit data via the EtherCAT bus. This real-time industrial bus expansion unit supports fieldbus protocols such as EtherCAT or CC-Link, deploys a master station with supported bus protocols, and can expand multiple slave devices, thereby increasing the expansion flexibility and capability of the robot control system. In addition, the real-time industrial bus expansion unit and the main control module can perform real-time periodic communication, with a real-time communication cycle of 125 microseconds or even lower, while maintaining synchronization with the real-time tasks of the main control module.

[0049] In some embodiments, as shown in Figure 2, the real-time submodule may include a servo drive unit. This servo drive unit receives control signals transmitted by the main station module via the PCI-e bus and drives the robot joint motors according to the control signals. The specific process of driving the robot joint motors according to the control signals includes: based on the control torque command sent by the main control module and the collected feedback current of the motor, calculating the motor control output signal through algorithms such as PID (proportional, integral, and derivative control algorithm) and FOC (field-oriented control algorithm), and driving the various joint motors of the industrial robot to realize the robot's movement, grasping, and rotation actions. To achieve high response and high-precision control of the robot joints, the servo drive unit and the main control module can perform real-time periodic communication, with a real-time communication cycle of 125 microseconds or even lower, while maintaining synchronization with the real-time tasks of the main control module.

[0050] In some embodiments, the hardware clocks of the master station module and the real-time sub-module are kept synchronized, including: the hardware clocks of the real-time industrial bus expansion unit, the master station module, and the servo drive unit are kept synchronized.

[0051] Specifically, the real-time industrial bus expansion unit and the master station module can perform real-time periodic communication, and their real-time tasks remain synchronized. The master station module and the servo drive unit can also perform real-time periodic communication, and their real-time tasks remain synchronized. Furthermore, the hardware clocks of the real-time industrial bus expansion unit, the master station module, and the servo drive unit can be synchronized, ensuring that the time base of the main control module, the real-time industrial bus expansion unit, and the servo drive unit is consistent. This reduces clock deviation and jitter, ensuring a synchronization error of less than 1 microsecond.

[0052] In some embodiments, the hardware clocks of the real-time industrial bus expansion unit, the master module, and the servo drive unit are kept synchronized, including:

[0053] Use the master control clock corresponding to the master control module as the synchronization reference;

[0054] The real-time industrial bus clock is kept synchronized with the main control clock through the clock synchronization signal of the PCI-e bus. The real-time industrial bus clock is the clock corresponding to the real-time industrial bus expansion unit.

[0055] The servo clock is synchronized with the master clock via the clock synchronization signal of the PCI-e bus. The servo clock is the clock corresponding to the servo drive unit.

[0056] Specifically, the main control module, as the module responsible for overall control logic, algorithm calculation, and task scheduling, uses its corresponding master clock as the synchronization reference, which reduces the parameters that need to be adjusted for hardware clock synchronization. A clock is a device that generates time signals. A clock synchronization signal is a signal that can synchronize clocks, such as the SYNC signal. In some communication protocols, such as the JESD204B protocol, the SYNC signal is crucial for ensuring data transmission synchronization. By using the PCI-e bus clock synchronization signal to keep the real-time industrial bus clock, servo clock, and master clock synchronized, the main control module, real-time industrial bus expansion unit, and servo drive unit can work collaboratively, reducing clock deviation and jitter, and ensuring a synchronization error of less than 1 microsecond. It should be understood that this application does not impose specific limitations on the reference clock for clock synchronization. In other embodiments, the real-time industrial bus clock or servo clock can also be used as the synchronization reference for keeping the hardware clock synchronized between the real-time industrial bus expansion unit, master module, and servo drive unit.

[0057] In some embodiments, the joint motors on the robot body are connected to the servo drive unit via UVW power cables.

[0058] Specifically, UVW refers to the three phases in a three-phase AC circuit; phase U is the first phase, with its electromotive force (EMF) leading phase V by 120°; phase V is the second phase, with its EMF leading phase W by 120°; and phase W is the third phase, with its EMF leading phase U by 120°. The joint motors of the robot body can be three-phase AC motors, and therefore connected to the servo drive unit via UVW power cables. The servo drive unit then sends motor control signals through the UVW power cables, thereby driving the various joint motors of the industrial robot to achieve actions such as movement, grasping, and rotation.

[0059] In some embodiments, the system further includes a sensor acquisition system. This sensor acquisition system can be mounted on the robot body and can be used to transmit sensor data to a real-time industrial bus expansion unit via a real-time industrial bus.

[0060] Specifically, the sensor acquisition system includes various sensors, such as pressure sensors, acceleration sensors, distance sensors, and temperature sensors. These sensors are typically mounted on the robot body to collect status information and environmental data during robot operation. As shown in Figure 3, the sensor acquisition system stores sensor data in a sample latch every 62.5 microseconds. A sample latch is an electronic circuit commonly used in digital signal processing; its function is to "lock" or "capture" the value of the input signal at a specific moment and output it at a later time. This sensor data needs t1 microseconds to be transmitted from the sensor acquisition system to the industrial bus (EtherCAT bus). Then, this sensor data is transmitted to the real-time industrial bus expansion unit via the industrial bus. It should be understood that there is usually a certain distance between the robot body and the main control cabinet. Although the real-time requirement for data transmission is lower than that between the main control module and the real-time sub-module, a certain level of real-time performance is still required. Therefore, sensor data can be transmitted via the real-time industrial bus to transmit sensor data to the real-time industrial bus expansion unit before each working cycle of the main control module.

[0061] In some embodiments, the system further includes: real-time periodic data starting from the data locked by the sensor acquisition system and ending when the servo drive unit outputs a motor control signal; the motor control signal is used to control the joint motor.

[0062] Specifically, real-time periodic data refers to the data of the real-time synchronous control cycle of the robot control system. The real-time synchronous control cycle can be understood as the time from transmitting sensor data from the real-time industrial bus extension unit to the main control module, then transmitting the control signal from the main control module to the servo drive unit, and finally the servo drive unit outputting the motor control signal based on the control signal. Because the robot control system continuously repeats the above process, the time of the above process is taken as a cycle. Furthermore, this real-time synchronous control cycle needs to be less than a specified duration; otherwise, it cannot meet the requirements of real-time performance and low latency.

[0063] In some embodiments, the DC-Sync signal of the real-time industrial bus expansion unit is used as the synchronization reference for the task.

[0064] Specifically, the DC-Sync signal typically refers to a Distributed Clock (DC) synchronization signal, which has important applications in industrial Ethernet communication and motor control. In the EtherCAT real-time Ethernet communication protocol, the DC-Sync signal is used to achieve high-precision synchronization of slave devices. Using the DC-Sync signal of the real-time industrial bus extension unit as the synchronization reference for the task ensures that the real-time interrupts between the real-time industrial bus protocol extension module and the sensor acquisition system remain synchronized. As shown in Figure 3, using the DC-Sync signal of the real-time industrial bus extension unit as the synchronization reference for the task, when the DC-Sync signal is acquired, the latest sensor data is transmitted from the sample latch to the real-time industrial bus extension unit via the industrial bus (EtherCAT bus), and this transmission process takes approximately 40 microseconds. As the real-time industrial bus expansion unit completes the sensor data reception task Ecat-R, since the above two processes have already consumed a large amount of time in the task cycle (approximately 125 microseconds), the process of transmitting sensor data to the main control module via the PCI-e bus needs to be completed in a very short time, even a few microseconds. In this embodiment, it can be completed in 1 microsecond, thereby ensuring that each transmission task is controlled within the task cycle and avoiding timing chaos caused by crossing the task cycle.

[0065] In some embodiments, the main control module employs a real-time operating system.

[0066] Specifically, the main control module uses a real-time operating system to meet the jitter requirements of real-time terminal tasks. The real-time operating system can be Linux, and there are various Linux real-time system solutions, the most common being PREEMPT_RT and Xenomai. Linux real-time systems can handle real-time interrupt tasks with jitter at the microsecond level, thus meeting the requirement that the main control module, real-time industrial bus expansion unit, and servo drive unit in the robot control system must all be real-time systems, and that the maximum jitter of real-time cycle tasks must be less than 10 microseconds.

[0067] In some embodiments, the hardware architecture of the real-time submodule adopts Xilinx's XC7Z015 series FPGA chip, and the FPGA chip uses parallel computing.

[0068] Specifically, Figure 4 shows the hardware architecture of the real-time submodule. This architecture uses Xilinx's XC7Z015 series FPGA chip, and leverages the parallel computing capabilities of the FPGA chip to reduce the data processing latency of the PCI-e interface. This real-time submodule includes a PCI-e control unit, which sends and receives signals through the PCI-e interface. The path indicated by the PCI-e output in Figure 4 is the signal output path of the PCI-e control unit, and the path indicated by the PCI-e receive is the signal receiving path of the PCI-e control unit.

[0069] In some embodiments, as shown in Figure 5, the FPGA chip includes a PCI-e communication module, a servo motor algorithm module, and a hardware interface module. The PCI-e communication module can employ Xilinx's DMA / Bridge Subsystem for PCI Express technology. This technology uses a hardware-accelerated DMA (Direct Memory Access) engine and the AXI (Advanced eXtensible Interface) bus protocol, enabling high-speed and low-latency data transmission. This allows for high-speed and low-latency periodic data interaction between the PCI-e communication module and the servo motor algorithm module. The AXI protocol supports high-speed data transmission in complex System-on-Chip (SoC) systems, efficiently connecting the CPU, memory controller, peripherals, and other high-performance components. Real-time data such as periodic current commands, motor angles, current feedback, and DC bus voltage are exchanged between the PCI-e communication module and the servo motor algorithm module using AXI4MM communication, while non-periodic parameters can be set using AXI4LITE communication. This facilitates parameter setting of the underlying module algorithms, making the robot control system more flexible.

[0070] The servo motor algorithm module can execute motor current loop PI control and motor vector control algorithms using the VHDL logic language. The hardware interface module includes various hardware driver interfaces, such as a bipolar three-phase pulse signal output port, SPI interface, IO interface, and sin3 filter interface. The hardware interface module and the servo motor algorithm module can use the AXI4 Stream protocol for data transmission. The AXI4 Stream protocol is an efficient, flexible, scalable, and reliable communication protocol suitable for data stream transmission between FPGAs and other low-level hardware devices.

[0071] In some embodiments, the robot control system provided in this application further includes a general-purpose I / O input / output module. The general-purpose I / O input / output module is used to receive external signals or control external devices, enabling interaction between the robot and the external environment and transmitting robot status information. It typically includes interfaces such as digital inputs, digital outputs, and analog inputs. Digital input interfaces are used to receive digital signals, such as signals from sensors or external switches. Digital output interfaces are used to output digital signals, such as controlling motors or lights. Analog input interfaces are used to receive analog signals, such as analog signals from sensors for temperature, pressure, and speed. The real-time performance requirements of the general-purpose I / O input / output module are relatively low, generally requiring only a response speed of tens of milliseconds, and generally do not require synchronization with the real-time tasks of the main control module.

[0072] Other embodiments of this application will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of this application that follow the general principles of this application and include common knowledge or customary techniques in the art not disclosed herein.

[0073] It should be understood that this application is not limited to the precise structure described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of this application is limited only by the appended claims.

Claims

1. A robot control system, characterized in that, include: The main control module is used to deploy the robot control system software and generate control signals based on sensor data; the sensor data is transmitted from the real-time submodule to the main control module via the PCI-e bus, and the control signals are the execution instructions of the real-time submodule. A real-time submodule is used to receive the control signals transmitted by the main control module via the PCI-e bus; The hardware clocks of the main station module and the real-time sub-module are kept synchronized.

2. The robot control system as described in claim 1, characterized in that, The real-time submodule includes: A real-time industrial bus expansion unit is used to transmit the sensor data to the master station module via the PCI-e bus; A servo drive unit is used to receive the control signals transmitted by the master station module through the PCI-e bus, and to drive the robot joint motors according to the control signals; The hardware clocks of the main station module and the real-time sub-module are kept synchronized, including: The hardware clocks of the real-time industrial bus expansion unit, the master station module, and the servo drive unit are kept synchronized.

3. The robot control system as described in claim 2, characterized in that, The hardware clocks of the real-time industrial bus expansion unit, the master station module, and the servo drive unit are kept synchronized, including: The master control clock corresponding to the master control module is used as the synchronization reference. The real-time industrial bus clock is synchronized with the master control clock via the clock synchronization signal of the PCI-e bus, and the real-time industrial bus clock is the clock corresponding to the real-time industrial bus expansion unit. The servo clock is synchronized with the master clock via a clock synchronization signal on the PCI-e bus. The servo clock is the clock corresponding to the servo drive unit.

4. The robot control system as described in claim 2, characterized in that, The joint motors on the robot body are connected to the servo drive unit via UVW power cables.

5. The robot control system as claimed in claim 2, characterized in that, The system also includes a sensor acquisition system, installed on the robot body, for transmitting the sensor data to the real-time industrial bus expansion unit via a real-time industrial bus.

6. The robot control system as claimed in claim 5, characterized in that, Also includes: The real-time periodic data begins when the sensor acquisition system locks the data and ends when the servo drive unit outputs the motor control signal. The motor control signal is used to control the joint motor.

7. The robot control system as claimed in claim 2, characterized in that, The DC-sync signal of the real-time industrial bus expansion unit is used as the synchronization reference for the task.

8. The robot control system as claimed in claim 1, characterized in that, The main control module uses a real-time operating system.

9. The robot control system as claimed in claim 1, characterized in that, The hardware architecture of the real-time submodule uses Xilinx's XC7Z015 series FPGA chip, which employs parallel computing.

10. The robot control system as claimed in claim 9, characterized in that, The FPGA chip includes: The PCI-e communication module uses Xilinx's DMA / Bridge subsystem technology applied to PCI-e for periodic data interaction with the servo motor algorithm module. The servo motor algorithm module is used to execute motor current loop PI control and motor vector control algorithms using the VHDL logic language. The hardware interface module includes various hardware driver interfaces, and the servo motor algorithm module uses the AXI4 Stream protocol for data transmission.

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