基于FPGA的嵌入式系统在灵巧手中的应用  

Application of FPGA-based embedded system in dexterous robot hand

作　　者：陈兆芃[1] 金明河[1] 刘伊威[1] 

机构地区：[1]哈尔滨工业大学机器人技术与系统国家重点实验室,哈尔滨150001

出　　处：《哈尔滨商业大学学报（自然科学版）》2008年第3期331-334,共4页Journal of Harbin University of Commerce：Natural Sciences Edition

基　　金：国家"863"高科技资助项目(2006AA042255)

摘　　要：研究了一种基于FPGA和NIOSⅡ双核处理器结构的控制系统,这种系统在结构上更为紧凑的同时,性能更为完善,并将其应用在新一代仿人灵巧手中.系统将算法计算处理和通信任务处理使用两个NIOSⅡ软核分开处理,提高了系统性能,并实现了单个芯片完成系统控制模块,多任务环境,以太网接口及TCP/IP协议栈,CAN、高速串行通信等功能.In this paper , the application of NIOS Ⅱ multiprocessor based control system FPGA （Field Programmable Gate Array） and for the dexterous robot hand are investigated. The Embedded control system in the new generation dexterous robot hand is more compact in structure, and enhanced in performance. This paper designs a enhanced control system of two separate NIOS Ⅱ processor in one of which arithmetic is processing , and in another communication task is processing. Whole control system with real time OS, Ethernet and TCP/IP stack , CAN and PPseco module is implemented in a single chip.

关 键 词：FPGA NIOSⅡ多处理器核 灵巧手 以太网 

分 类 号：N241.3[自然科学总论]