摘要
为简化伺服机器人内部通信结构,增强机器人通信能力,提升处理速度,解决多轴协调控制问题,本文介绍了一种基于NIOSII处理器和FPGA(Field Programmable Gate Array)的用于伺服机器人内部通信的CAN总线节点的设计方法。采用可编程技术和32位高性能NIOSII处理器,以Verilog HDL硬件描述语言实现CAN总线控制器,在一片FPGA芯片内实现了CAN总线节点设计。充分利用NIOSII微处理器的高速运算能力和FPGA逻辑功能由硬件电路实现,计算速度快(纳秒级)的能力,大大简化实际电路,提高了机器人内部通信的灵活性,增强了通信能力。实验表明,该设计的CAN总线节点性能可靠且能代替传统伺服机器人中常使用的专用微控制器芯片,满足伺服机器人中的通信需求。
This paper proposes a new design method to implement the design of CAN BUS node based on NIOSII processor and FPGA,which is used to simplify the internal communication structure of serving robots,enhance communication capacity,promote processing speed and solve the problem of coordination control among multiaxis.The design of CAN BUS node is realized by NIOSII processor and CAN BUS controller written in Verilog HDL embedded into FPGA with system programmable technology.By fully utilizing the high-speed calculation capability of NIOSII and rapid calculation of FPGA,the design has less circuit,higher flexibility.The experimental result indicates the design is reliable and replaces the dedicated microcontroller chips to meet communication requirement of serving robots
出处
《微计算机信息》
2011年第6期69-71,共3页
Control & Automation
基金
基金申请人:谢维磊
项目名称:基于NIOS微处理器的面向机器人内部通信的可重构微控制器设计
基金颁发部门:上海大学(A.16-0109-10-057)
上海市重点学科建设项目资助(T0103)
