Title: FPGA Reconfigurable Embedded Robot Control System
Abstract: This paper presents a kind of FPGA-based reconfigurable embedded microprocessor control system. Two Nios Ⅱ soft core are embedded in FPGA and custom components can be designed by using VHDL language. While one microprocessor based on Nios Ⅱ can generate PWM output, process encoder signal and implement multi-motor synchronous servo algorithm, another microprocessor is in charge of robot task management. The control system is designed for a micro-miniature wall-climbing robot. It not only has the excellent real time and multitask process function, but also has the advantage of compact space, low mass and reconfiguration. Hence, the control system can be applied to a type of miniature robot so as to improve its design flexibility.
Publication Year: 2009
Publication Date: 2009-01-01
Language: en
Type: article
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