基于FPGA的串联机器人控制系统设计  

Design of Robot Control System Based on FPGA

作　　者：张道德[1] 尹洋[1] 宋成龙[1] 

机构地区：[1]湖北工业大学机械工程学院,湖北武汉430068

出　　处：《湖北工业大学学报》2015年第1期59-64,114,共7页Journal of Hubei University of Technology

摘　　要：通过Pro/Enginee构建5自由度机械手硬件机械结构模型,设计基于FPGA嵌入式处理器的NiosII的SOPC架构系统的软件平台,以及FPGA控制器与步进电机驱动模块,并分析机械臂运动学的正解、逆解问题,通过VC、MATLAB等工具实现机械臂的最优解的选取、轨迹规划的仿真,以及运用Robotics Toolbox工具箱进行正逆运动学仿真,验证算法可行性和求解的正确性。Through PROE robot hardware,the study first constructed the five degrees of freedom mechanical structure model,and designed the software platform based on FPGA embedded processor NiosII of SOPC framework,and FPGA controller and stepper motor driver module.It then analysed the positive and inverse problem solutions of manipulators＇ kinematics.It also completed the selection of the optimal solution of manipulators by VC,MATLAB and other tools and trajectory planning simulation.It finally used the Robotics Toolbox Toolbox in positive and inverse kinematics simulation to verify the feasibility of the algorithm and the correctness of the solutions.

关 键 词：现场可编程逻辑门阵列 机器人控制 机械臂 

分 类 号：TP391[自动化与计算机技术—计算机应用技术]