Title :
A Highly Integrated Joint Servo System Based on FPGA with Nios II Processor
Author :
Ni, F.L. ; Jin, M.H. ; Xie, Z.W. ; Shi, Sh.C. ; Liu, Y.Ch. ; Liu, H. ; Hirzinger, G.
Author_Institution :
Robot Res. Inst., Harbin Inst. of Technol.
Abstract :
In this paper, FPGA (field programmable gate array) based joint servo system for the HIT/DLR arm has been investigated. A new fully digitized hardware design scheme of a joint servo controller has been presented, which is verified and implemented on one-chip FPGA with embedded NIOS II processor. This scheme not only realizes all sensor data acquisition, SPWM generation and motor vector control, but also realizes joint position, torque control and trajectory generation. Moreover, the realized controller IC also contains a high speed serial (25 Mbps) communication interface based on LVDS (low voltage differential signal), which permits the on-line configuration for all kinds of control parameters. Experimental results demonstrate the effectiveness of the compact joint servo controller for the HIT/DLR arm
Keywords :
control engineering computing; embedded systems; field programmable gate arrays; machine vector control; manipulators; microcontrollers; position control; servomechanisms; torque control; FPGA; HIT/DLR arm; LVDS; SPWM generation; controller IC; digitized hardware design scheme; embedded NIOS II processor; field programmable gate array; high speed serial communication interface; joint position control; joint servo controller; low voltage differential signal; motor vector control; online control parameter configuration; sensor data acquisition; torque control; trajectory generation; Communication system control; Data acquisition; Field programmable gate arrays; Hardware; High speed integrated circuits; Machine vector control; Servomechanisms; Servomotors; Torque control; Voltage control; FPGA; NIOS II processor; joint servo system; motion control;
Conference_Titel :
Mechatronics and Automation, Proceedings of the 2006 IEEE International Conference on
Conference_Location :
Luoyang, Henan
Print_ISBN :
1-4244-0465-7
Electronic_ISBN :
1-4244-0466-5
DOI :
10.1109/ICMA.2006.257757
