Design Of Pose Control System Based On PXI Bus

With the progress of robot technology,robots will develop towards intelligence,which shows that in the application of robots,the study of robot arm pose control system is very important.With the rapid development of VLSI and the computer technology,the high-speed data transmission system of the PXI bus has become the mainstream direction of development.In order to improve the efficiency of data processing,a pose control system based on PXI bus is designed in this paper.Because the whole system is relatively large,this paper mainly studies two parts of the system: PXI bus and the pose control algorithm.This paper mainly studies the following contents:In the first part,PXI bus in this system is fully compatible with PCIe bus,so the theoretical research part directly analyzes PCIe bus.This paper studies the PCIe bus protocol specification and topology structure,analyzes the functions of each layer of PCIe architecture,and determines the data communication process among upper computer,endpoint device,switching node and root federation,which provides theoretical support for the PXI data communication based on Xilinx IP core.This paper explores the implementation method of DMA high-speed data communication based on Xilinx Kintex Ultra Scale FPGA hardware platform,as well as the creation and application of Root Port model.This paper in-depth studies the DMA/Bridge Subsystem for PCI Express(PCIe)IP core configuration and method of operation,and an implementation scheme for DMA data communication based on AXI4-Stream user interface is clarified.In the second part,the basic content of the manipulator's motion processing and the related knowledge of robot kinematics are mainly studied.Since the current pose control algorithm is based on software programming language,in order to achieve hardware acceleration,this design is based on the hardware description language verilog.The data processing module based on pose control algorithm includes CORDIC module,pose transformation matrix,velocity transformation matrix and Jacobi matrix.The data processing module completes the data processing of the target pose and joint state of the multi-degree of freedom manipulator.This paper mainly completes the circuit design of PCIe bus and the circuit design of pose control.The design and simulation of data transfer logic of AXI4-STREAM read-write interface are completed in PXI and PCIe buses,and the corresponding DMA read-write test of DDR storage is completed based on PCIe bus.The test of DMA rate was completed.When the single packet was 8MB,the write speed of DMA transfer could reach 4.19GB/s and the read speed of DMA transfer could reach 3.91GB/s.In the aspect of posture control algorithm,the logic design and simulation of data processing module were completed.Based on the posture state data of the robot arm,it passed the joint simulation test,it is found that the data processing speed of FPGA hardware implementation is significantly improved compared with that of the software implementation of algorithm,which met the expected requirements of the research and application verification project of the robot operating system and development environment,and passed the initial acceptance.It is found that PXI bus can not only meet the requirements of reliability and robustness in practical engineering,but also has strong scalability and can realize plug and play and performance expansion of accelerating equipment.In the future,it can realize multiple intelligent fusion heterogeneous systems.