Study On Robot Controller Based On Heterogeneous Multi-core PAC

With the rapid development of artificial intelligence, computer science and sensortechnology, people put forward higher requirements on the performance of the robot controller.PAC, just like PLC which has only one core, is used as robot controller. This may lead toreal-time problems on multitasking system. In the other way, the integrated chips withmulti-core are used as robot controller too. And the task scheduled by OS which cannotguarantee the stability and security for industrial control. In order to solve this problem, arobot controller based on heterogeneous multi-core PAC which can guarantee the real-time,reconfiguration, stability and security was designed in this paper.A four-DOF robot arm based on wire rope driving was designed to verify the robotcontroller. For most of the traditional robot arm, the driving motor, reducer and joint axis areinstalled near the connection joint, which leads to additional loads to the next joint. Thefour-DOF robot arm based on wire rope driving can improve this drawback. It includestensioner and whole structure design, torque analysis and stepper motor selection. The D-Hparameters which is used to build the modeling coordinate is determined. And then theinverse and forward kinematics is analyzed by Robotics Toolbox for Matlab, the jointtrajectory planning based on quintic polynomial is also analyzed.This paper is focused on the studying of robot controller based on heterogeneousmulti-core PAC. In the hardware part, a enhanced SPI which can change the host throughinterrupt is defined to communicate between analog board, digital I/O board and motioncontrol board. It elaborates the method how to configurate the three boards work as individualor a whole. The Multi-core debugger and a16channel single ended or8channel differentialAnalog signal acquisition system are designed. In the software part, USB virtual serial port isapplicated in the data transmission for debugger. The ISP download of STM32F103and theJTAG debug of ARM Cortex-M3are designed. The JTAG debug includes reset and halt,breakpoint, single step, reading the register R0-R15register and so on. The function of thePAC was verified by experiments, and the PAC is feasible.