模块化机器人嵌入式多核主控制器设计
首发时间:2011-12-20
摘要:针对模块化机器人控制,提出一种基于FPGA的片上多核主控制器设计方案,适用于采用分布式控制方式的模块化机器人控制系统。利用SOPC技术在单一芯片上设计两个完全不同结构的核心:Nios II软核和协处理器。文章详细介绍了机器人控制的路径规划流程,Nios II软核体系,协处理器的构架及接口,基于SOPC的片上多核系统实现。实验结果验证了所提出的多核主控制器设计的可行性。
关键词: 模块化机器人 多核控制器 协处理器 Nios II软核
For information in English, please click here
An Embedded Multi-core Main Controller of Modular Robot
Abstract:This paper presents an embedded multi-core main controller design for modular robot control.This design can be used in distributed control of modular robot control system. Take advantage of the technology of SOPC, this paper design two completely different structure of the core: Nios II soft-core and coprocessor on a single chip. The paper focus on explaining the path planning process for robot control, Nios II soft-core system, the co-processor architecture and interface, how to implement the multi-core system on chip using SOPC technology. The experimental results demonstrate the feasibility of the multi-core controller.
Keywords: Modular Robot Multi-core Controller Coprocessor Nios II Soft Core
基金:
论文图表:
引用
No.****
同行评议
共计0人参与
勘误表
模块化机器人嵌入式多核主控制器设计
评论
全部评论0/1000