Robot model algorithm realization method based on FPGA

Abstract

A robot model algorithm realization method based on the FPGA is provided, and the serial data are obtained from the upper processor through the DMA IP core of the FPGA. The angle information of three rotary joints of a main manual operation arm is obtained by a serial-to-parallel conversion module, and then is sent to a robot model calculation IP core by an FIFO buffer. The angle information of the three rotary joints of the manual operation arm is obtained by calculation, the serial data are obtained through a parallel-to-serial conversion module, and finally the serial data are returned to the upper process by the DMA IP core. The invention utilizes the System Generator tool to realize the IP core design of the robot model calculation module, and simulates the designed robot model to verify the feasibility of the proposed method. The invention improves the processing speed of the robot model algorithm, meets the requirements for high-precision and high-speed real-time measurement, has the characteristics of low power consumption, miniaturization and high speed, and can be applied to the field of high-precision robot control.

Description

technical field [0001] The invention relates to an implementation method of an FPGA-based robot model algorithm, in particular to an FPGA implementation technology for master-slave heterogeneous robot model calculation, which belongs to the field of robot control. Background technique [0002] With the vigorous development of robot technology, robots are widely used in industries such as automobiles, electronics, and food to replace humans in repetitive labor. When it is necessary to complete complex tasks in some difficult-to-reach or dangerous environments for humans, ordinary robots are often incompetent. At this time, master-slave control robots emerge as the times require. Slave robots in special or dangerous environments. Research on master-slave controlled robots that can be widely used in such environments is a hot topic in the field of robotics. [0003] The master-slave control robot model includes the robot's forward kinematics of the master arm and the inverse ...

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Problems solved by technology

[0003] The master-slave control robot model includes the robot's forward kinematics of the master arm and the inverse kinematics of the slave manipulator arm. The calculation of robot kinematics involves nonlinear calculations and linear calculations, and the amount of calculation is large. When calculating with a general-purpose computer or DSP, etc., Real-time performance is difficult to guarantee, and the cost of processing with high-performance computers is very high

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