Title :
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
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;
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
DOI :
10.1109/EMEIT.2011.6023906
