基于ZYNQ的Stewart并联机器人运动学算法实现  

Realization of Stewart parallel robot kinematics algorithm based on ZYNQ

作　　者：边宗政 刘曰涛[1] 于长松 姜佩岑 BIAN Zongzheng;LIU Yuetao;YÜChangsong;JIANG Peicen(School of Mechanical Engineering,Shandong University of Technology,Zibo 255000,China)

机构地区：[1]山东理工大学机械工程学院,山东淄博255000

出　　处：《传感器与微系统》2024年第7期141-144,共4页Transducer and Microsystem Technologies

基　　金：国家自然科学基金资助项目(51805299)。

摘　　要：针对实时的控制和监控,而导致Stewart机器人实时性不高的问题,提出了基于ZYNQ芯片的软硬件协同计算Stewart并联机器人运动学解的方案。ZYNQ芯片集成了PL(FPGA)和PS(ARM)两种不同的嵌入式芯片,PL(FPGA)作为PS(ARM)的协处理器进行运动学算法解算,PS(ARM)则运行实时系统,对Stewart机器人进行实时的控制。实验证明:硬件计算Stewart并联机器人运动学解与理论计算结果误差在合理范围内,且解算时间满足实时系统控制周期小于2ms的要求。In view of the problem that the real-time performance of Stewart robot is not high,a scheme for software and hardware cooperative calculation of the kinematics solution of Stewart parallel robot based on ZYNQ chip is proposed.The ZYNQ chip integrates two different embedded chips,PL(FPGA)and PS(ARM).PL(FPGA)is used as a co-processor of PS(ARM)to solve kinematics algorithms,while PS(ARM)runs real-time systems for real-time control of the Stewart robot.Experiments show that the error between the kinematics solution of the Stewart parallel robot calculated by the hardware and the theoretical calculation result is within a reasonable range,and the solution time meets the requirement that the control period of the real-time system is less than 2 ms.

关 键 词：STEWART并联机器人 运动学 ZYNQ芯片 高层次综合 LINUX系统 

分 类 号：TP242.3[自动化与计算机技术—检测技术与自动化装置]