Dsp And Fpga-based Robot Control System

Recently, the motion control systems based on DSP and FPGA has become a trend in the development of new generation motion control systems. This kind of architecture not only has the information processing capacity, but also has open, real-time and reliability characteristics, and so acts an important character in the field of robot motion control.The dissertation has done some research on walking rehabilitation training robot motion control system. At the beginning of the article, we gave a variety of motion control schemes, and then compared the advantages and disadvantages of these schemes, and selected the scheme that uses DSP and FPGA as the core for motion control system design.The dissertation has done detailed research on the software and hardware design of the motion control system, which uses DSP and FPGA as the core. Using DSP to realize the whole structure and the function modules of the system, using FPGA to realize the address decoding circuit, pulse distribution circuit and optical encoder signal processing circuit, and then doing function simulation and time sequence simulation about theses circuits.The result showing that the design based on the DSP and FPGA as the core of the motion control system not only achieves the function requirements, but also promotes the real-time and reliable character of the robot motion control system, and also cuts down the volume and power consumption remarkably.