Research Of The Telerobot Motion Controller Based On Fpga

The robot motion controller is a very important component of robot. With the emergence and development of some new technologies, robot control technology has been overall progress. This paper derives from the background of National 863 Project Subject "Live-line Maintains Robot System" which is taken on by Robot Research Center in Shandong University of Science and Technology. It designs a FPGA-based telerobot motion controller through the research of robot motion control, and realizes the movement of network remote robot arm.This paper adopts the D-H representation to build the kinematics model of Live working Robot arm. And then paper puts forward the overall system structure of telerobot, as well as the brief analysis of the internal composition of the master chip. Paper realizes the Nois II processor, Avalon bus, PWM core, coding reader core and the network controller core etc.Through the construction of the SOPC system, we make up of servo control main chip with hanging the each function component into the Avalon bus, in which paper analyses and realizes the PWM components, photoelectricity coding components and the network control components for detailed. Paper realizes the pulse generation IP core and photoelectricity coding reader IP core which are needed by servo motor control based FPGA by means of researching of servo motor control signals and feedback signals. The hardware realization is mainly about the interface between the FPGA-based motion controller and servo-driven , which include the PWM components, the interface link between feedback and control signals of photoelectric encoder and servo-driven. For the information transmission between the console and controller, the paper adoptes the external network chip to realize.The system software mainly includes the realization of the controler software and the console control software, which both exchange information by network communication. Controller accepts the order which is sent from console via the network, thus complete the appropriate action and feedback the corresponding running state to console. In the design of controller software, this paper adopts the flexible realization of Trapezoid Curve Control Algorithm. The timer interrupt is mostly in order to sample the photoelectric encoder signal and compare the given value, which generate a pulse sequence with the PID control algorithms to drive Motor.