| In the field of robot research, it is an important content that effectively enhances the robot control system's performance. This paper analyzes the development of industry robot and the current research situation of robot controller. The essentially targets of this article is established a new entirely digital robot position servo-control system based on the ATmega128 and FPGA for the five multi-joints robot.This paper analyzes the body structure of the five multi-joints robot. After exact location servo-control theory of the robot is clearly realized, it studies and compares many feasible robot control system plans. Finally it decides to adopt the two-stage CPU control system structure: On the first stage is the personal computer. It realizes the administration, the co-control of the robot system as well as accomplishes the robot's real-time path plan by using advanced control algorithm. The ATmega128 with high performance is on the second stage. It is assisted by the FPGA chip with the ability of high speed and parallel processing. And it makes the robot's five joints rotate parallel with high speed. In addition, the PC and the ATmega128 communicates with UART port. The UART communication mode not only guarantees the communication's convenience, but also effectively enhances the control system's real-time and reliability.Robot control system software design including two parts: The first part uses the VC++ to realize the robot control algorithm and the interaction between the user and the robot system in real-time. The second part is based on uC/OS II embedded system. It realizes the function of driving the robot motor by getting commands from PC, and the function of feeding back robot's real-time location and status information.According to the above design, it works out the robot control system and finds it has a very good real-time property, high position precision, stability and reliability. It allows the user to control the robot by operating on the PC. |
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