基于STM32+FPGA的六自由度机器人运动控制器设计  

Design of Six DOF Robot Motion Controller Based on STM32+FPGA

作　　者：陈亚[1] 史钊亮 高锦宏[1] 王殿君[1] CHEN Ya;SHI Zhao-liang;GAO Jin-hong;WANG Dian-jun(School of Mechanical Engineering,Beijing Institute of Petrochemical Technology,Beijing 102617,China)

机构地区：[1]北京石油化工学院机械工程学院,北京102617

出　　处：《机械设计与制造》2020年第4期240-243,共4页Machinery Design & Manufacture

摘　　要：针对PC+运动控制器的开放式机器人控制系统特点,以基于STM32+FPGA的双CPU架构为基础,设计了一种六自由度机器人运动控制器。介绍了PC+运动控制器的六自由度机器人控制系统,详细介绍了运动控制器硬件结构及电路设计,包括以太网模块、STM32与FPGA通信模块、编码器信号处理模块等;进行了运动控制器各功能模块软件设计;编写了上位机软件并搭建了机器人控制系统。基于该控制系统,进行机器人的示教再现实验,机器人运行平稳,验证了本设计的合理性。A six degree of freedom robot motion controller is designed based on the characteristics of open robot control system for PC+motion controller and STM32+FPGA dual CPU architecture.The six degree of freedom robot control system based on PC+motion controller is introduced.The hardware structure and circuit design of the motion controller are introduced in detail including Ethernet module,STM32 and FPGA communication module,encoder signal processing module and so on.The software design of each function module of the motion controller is carried out.The upper computer software is compiled and the robot control system is set up.The teaching and playback experiments of the robot are carried out based on the control system.The robot runs smoothly,and the rationality of the design is verified.

关 键 词：机器人 运动控制 STM32 FPGA 

分 类 号：TH16[机械工程—机械制造及自动化] TP336[自动化与计算机技术—计算机系统结构]