Series Robot Control System Design And Trajectory Planning Based On FPGA

A variety of the latest scientific research results are applied to robotics, including embedded technology, electronic technology, sensor technology, intelligent control technology, machine vision technology Preface Technology.Manipulator robot technology is the most important object of study.Industrial robots are also the most central areas of automation equipment.The research of manipulator system plays an important role in promoting for the development of national integrated technology.In this paper,the historical background and research status of industrial robots are introducesd first.Then analyzed the kinematics of industrial robot kinematics systems are inverse solutions,as well as the best to resolve the problem.Further a variety of different trajectory planning method are discussion a 5 DOF robot three-dimensional model is establishment,the design of an industrial robot hardware and software systems are completed.Finally,3D model of industrial robot kinematics,inverse kinematics, trajectory planning and other content were simulated with Matlab and FPGA.On the basis of robotics,the solution of kinematic equations is discussed.Established mathematical model manipulator by D-H modeling methods.Inverse kinematics is solved for closed algebraic methods.The shortest distance method is proposed for solving inverse kinematics optimization program was used.A five DOF robot model was designed to determine the object of study.Through the study of robot control programs, select using Altera’s FPGA chip as the core control chip design EP2C8Q208C8 N control circuit based on FPGA core.Considering the easy to control, reduce costs and other factors, the system selects an open loop stepper motor drive system.In order to improve the control effect stepper motor selection with self-locking brake function.Stepper motor driver Toshiba TB6560 chip as the core control chip.By designing the core circuit schematics and drive circuit diagram complete manipulator control system hardware circuit.In software systems constructed based on SOPC NIOS soft-core system, the completion of the manipulator control system design software.Finally,the computer simulation technology is also an important part of robotics research.The Robotics Toolbox of MATLAB toolbox,using robotic platform for robotics simulation and show the main content.Convenient to verify the correctness of the theory.