【作者】 王君； 魏洪兴； 孙凯；

【Author】 WANG Jun WEI Hong-xing SUN Kai (Robotics Institute,Beihang University,Beijing 100083,China)

【机构】 北京航空航天大学机器人研究所；

【摘要】 针对机器人控制系统,提出一种建立在 FPGA 之上以 SoC 为基础软硬件可重构的机器人控制系统体系结构。设计基于软核处理器的多种串行总线控制器,实现对目前几种常用串行总线的兼容和基于 MicroBlaze 和μcos 的可重构软件体系结构的方法。在一种模块化机器人中验证此种可重构机器人控制系统的可行性。更多还原

【Abstract】 The advantages and disadvantages of reconfigu- rable robot controller are discussed,and an architecture of recon- figurable robot control system which is based on SoC(System on Chip)is described.A number of serial bus controllers which are based on soft-core processor are designed.The realization method of the reconfigurable software architecture which is based on MicoBlaze and μcos is analyzed.And at last,the feasibility of the reconfigurable robot system is validated by applicating it to a modular robot.更多还原