[1]王赛赛 陈万米 桂春胜.基于ARM和FPGA的服务机器人运动控制系统研究[J].计算机技术与发展,2011,(11):57-60.
　WANG Sai-sai,CHEN Wan-mi,GUI Chun-sheng.Research of Service Robot Motion Control System Based on ARM and FPGA[J].,2011,(11):57-60.
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基于ARM和FPGA的服务机器人运动控制系统研究()
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《计算机技术与发展》[ISSN:1006-6977/CN:61-1281/TN]

卷:
期数:
2011年11期
页码:
57-60
栏目:
智能、算法、系统工程
出版日期:
1900-01-01

文章信息/Info

Title:
Research of Service Robot Motion Control System Based on ARM and FPGA
文章编号:
1673-629X（2011）11-0057-04
作者:
王赛赛 陈万米 桂春胜
上海大学上海市电站自动化技术重点实验室
Author(s):
WANG Sai-sai;  CHEN Wan-mi;  GUI Chun-sheng
Shanghai Key Laboratory of Power Station Automation Technology, Shanghai University
关键词:
服务机器人; 运动控制系统; ARM; FPGA
Keywords:
service robot; motion control system; ARM; FPGA
分类号:
TP273
文献标志码:
A
摘要:
介绍了一种基于ARM和FPGA的嵌入式控制系统，该系统既能独立运行又能在计算机辅助下运行，是一种兼具柔性和开放性的系统。利用ARM的强大的数据流转换功能和FPGA的快速配置能力，实现硬件可重构。给出了系统的总体结构、ARM和FPGA之间的通信设计，重点给出了基于NiosII的嵌入式可重构底层控制设计，PWM功能模块在FPGA上的实现。设计的系统集成度高、灵活。实验表明系统具有高可靠性，能满足服务机器人外围器件多样性控制的要求。ARM和FPGA不仅可以并行运行处理数据，其之间又可以互相通信，实现了系统的扩展应用
Abstract:
It introduces a kind of embedded control system based on ARM and FPGA , the system is both flexibile and open which can operate both in independent and in computer, aided ways. Hardware can be reconfigurable by taking advantage of the powerful data flow transformation function of ARM and the rapid configuration ability of FPGA. It presents system＇ s overall structure, communication design between ARM and FP3A, and the embedded reconfigurable bottom control was emphasisly given, PWM function module was realized on FPGA. The general structure of the system is given, so is the communication design between ARM and FPGA. It emphasises on the embedded reconfigurable bottom control design based on the Nios H and the realization of PWM functional module on FPGA. The designed system is of high integration and flexibility. Experiments have shown that this system has high reliability and it can meet the requirements of peripheral devices diversity control for the service robot. The ARM and FPGA not only can operate simultaneously in proeessing data, but also they can communicate mutually, thus realizing the extended applications of the system

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备注/Memo

备注/Memo:
机器人技术与系统国家重点实验宦开放基金（SKLS-201）9-MS-10）王赛赛（1987-），男，河南鹿邑人，研究方向为控制科学与工程；陈万米，副教授，博士，研究生导师，研究方向为智能机器人、双目视觉为主的图像处理、人工智能、模式识别与智能系统
更新日期/Last Update: 1900-01-01