A Embedded Controller Hardware Platform Design For Quadruped Walking Robot Based On ARM And CPLD

Motion control system is the key part of the robot control system.Application of ARM and CPLD technology in robot motion controlsystem makes motion control system opener and more modularization.At the same time, the features of ARM and CPLD help the motion system overcome many technology bottlenecks, such as real time,high speed and high precision.Embedded system is one of the hottest concepts today,It is applied widely in various fields because of its concision and effectivity.The embedded system is asapplication as center,based on the computer technology and its hardware and software can be cut down.So it is appropriate to the special computer system swhich are strict with function,reliability,cost,bulkandlow—Power.Commonly,it is make up of four parts:microprocessor,external hardware,embedded operating system and the application programs of user.It can be used to accomplish the control,monitor and manager for the other devices.In this paper,a controller which is based on the microprocessor of S3C44B0X and is used to control the remote robot is designed.At first,the embedded system,the microprocessor of S3C44B0X and the structure characteristic of embedded are introduced.Later,the design of an intellective controller which is based on S3C44B0X is involved,the design includes hardware design and CPLD software design.The controller platform uses 32bits ARM as its cpu,extended inside memory,UART bus;the output of PWM was inputted in the electromotor driver module to control the remote robot.In CPLD software design,JTAG busdriver is embedded into the embedded operating system,the controller can communicate with other switch different devices through JTAG bus.Through the idea of top-down,and block design,software code is given in QUARTUSⅡdesign environment.In this way,it's not only good to debug,but also good to extend the other bus interface.At last,The controller has been tested and analyzed.