An RTOS-GPOS dual-operation system robot controller based on a ZYNQ dual-core processor

Abstract

The invention relates to an RTOS-GPOS dual-operation system robot controller based on a ZYNQ dual-core processor. The controller comprises a ZYNQ dual-core processor, a peripheral hardware module withthe ZYNQ dual-core processor as a control core and an RTOS-GPOS dual-operation system tanking the ZYNQ dual-core processor as the hardware basis. The GPOS dual-operation system comprises a master system module, a slave system module, a system starting control module and a dual-core communication module. According to the invention, a dual-operation system parallel operation mechanism based on an asymmetric multi-processing architecture is established on a dual-core chip ZYNQ; a dual-system robot controller is constructed; a general operation system Linux and a real-time operation system FreeRTOS can be operated at the same time; therefore, upper-layer tasks such as man-machine interaction and path planning can be completed, real-time tasks such as motion control and emergency operation canbe executed, a controller which is light, high in communication efficiency and good in reusability is provided for robot development, and the requirements of practical application can be well met.

Description

technical field [0001] The invention belongs to the technical field of automatic control, and in particular relates to an RTOS-GPOS dual-operating system robot controller based on a ZYNQ dual-core processor. Background technique [0002] A robot is a mechatronic control object. Its control software includes both upper-level non-real-time tasks such as human-computer interaction and path planning, and low-level real-time tasks such as motion control and emergency operations. The realization of the robot control system currently adopts the form of host computer + motion control card. The host computer runs a general-purpose operating system to complete non-real-time tasks, and the motion control card runs a real-time operating system or bare-board program to complete real-time tasks. This traditional control structure makes the robot controller need at least two control boards, which increases the space, and at the same time, the communication efficiency of the upper and lower...

AI Technical Summary

Problems solved by technology

This design can improve the reusability of the hardware platform and shorten the development time, but the disadvantage is that there is no dedicated communication channel between ARM and FPGA, which easily affects the overall performance improvement, and the hardware acceleration feature of FPGA cannot be fully utilized.

Googol's four-axis motion controller is realized by DSP+FPGA, but the price of a single unit is relatively expensive, and the system design is complicated and the design cost is high

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