Design of industrial robot controller based on system on programmable chip

Author

Ligong Sun ; Fei Xiang ; Xiangwen Sun ; Sujuan Li

Author_Institution

Electron. & Inf. Eng. Coll., Henan Univ. of Sci. & Technol., Luoyang, China

Volume

8

fYear

2011

fDate

12-14 Aug. 2011

Firstpage

3877

Lastpage

3880

Abstract

The paper studies a kind of open robot controller, combining powerful functions and remarkable advantages, which realizes programmable controller on chip of industrial robot using ALTERA FPGA and an embedded soft core processor of NIOS II, and designs the structures of software and hardware of the controller. The experiment is carried out. The results indicate that the robot controller is reasonable and feasible.

Keywords

control system synthesis; embedded systems; field programmable gate arrays; industrial manipulators; microcontrollers; software engineering; system-on-chip; ALTERA FPGA; NIOS II processor; controller hardware design; controller software design; embedded soft core processor; industrial robot controller design; open robot controller; programmable controller on chip; system on programmable chip; Hardware; Joints; Robot kinematics; Service robots; Software; Trajectory; FPGA; controller; open architecture; real-time;

fLanguage

English

Publisher

ieee

Conference_Titel

Electronic and Mechanical Engineering and Information Technology (EMEIT), 2011 International Conference on

Conference_Location

Harbin, Heilongjiang

Print_ISBN

978-1-61284-087-1

Type

conf

DOI

10.1109/EMEIT.2011.6023906

Filename

6023906