A Robot Motion Control System Based on ARM

Author

Jingwen, Tian ; Meijuan, Gao ; Jin, Li ; Kai, Li

Author_Institution

Beijing Union Univ., Beijing

fYear

2007

Firstpage

54

Lastpage

57

Abstract

The key technology of robot is motion control system. In order to improve the performance of robot, a robot motion control system was designed based on EPXA10 which has integrated FPGA and the embedded processor ARM. A method for robot motion control system based on FPGA and the embedded processor ARM is presented in this paper. The hardware segment depicted the whole plan for the system and the controlling process, while the software segment planed the ISR flow and the PID-control flow of micro-motors. Study proved that, comparing with conventional control, this control system will have obvious superiority at aspects of reliability, miniaturization, power consumption, and performance/ price ratio. The remote control function of the motion system can be extended based on ARM.

Keywords

control engineering computing; field programmable gate arrays; microprocessor chips; motion control; robots; three-term control; ARM; EPXA10; FPGA; ISR flow; PID-control flow; advanced RISC machine; micromotors; robot motion control; Control systems; Energy consumption; Field programmable gate arrays; Hardware; Micromotors; Motion control; Power system reliability; Process control; Robot control; Robot motion; ARM; FPGA; Mobile robot; Motion control;

fLanguage

English

Publisher

ieee

Conference_Titel

Control Conference, 2007. CCC 2007. Chinese

Conference_Location

Hunan

Print_ISBN

978-7-81124-055-9

Electronic_ISBN

978-7-900719-22-5

Type

conf

DOI

10.1109/CHICC.2006.4347363

Filename

4347363