基于现代DSP技术的机器人运动控制器设计  

Design of robotic motion controller Based on modern DSP techniques

作　　者：栗素娟[1] 阎保定[2] 朱清智[2] 

机构地区：[1]河南科技大学电子信息工程学院,河南洛阳471003 [2]河南科技大学

出　　处：《微计算机信息》2008年第29期249-251,共3页Control & Automation

基　　金：<机器人伺服控制系统关键技术研究>;河南省教育厅自然科学基金资助项目(200610464031)

摘　　要：介绍了一种基于现代DSP技术的机器人运动控制器设计方法,根据控制器的基本原理,利用MATLAB/DSPBuilder搭建硬件模型,然后利用ALTERA公司提供的Signal Compiler工具对其进行编译,产生Quartus Ⅱ能够识别的VHDL源程序,并且给出了采用ALTERA公司的cycloneⅡ系列的FPGA芯片EP2C20F484C8实现控制器的方法,结果表明,该方法大大提高了实时性,并且易于修改、易于测试及硬件升级。one kind of independently designed solution of robotic motion controller was Introduced based on modern DSP techniques, according to the controller basic principle, the hardware model was established by using Matlab/DSP Builder, then using the Signal compiler tool provided by the ALTERA Corporation to carry on the translation, thus the VHDL source program was generated which QUARTUS Ⅱ could distinguish, finally a realization method of controller was presented adopting the cyclone Ⅱ series FPGA chip EP2C20F484C8 from ALTERA Corporation , experimental results showed that this algorithm had good real-time capabilities, and easy to revise, easy to test and also easy to upgrading the hardware.

关 键 词：现代DSP技术 现场可编程门阵列 SOPC技术 机器人运动控制器 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]