Title :
A Robot Motion Control System Based on ARM
Author :
Jingwen, Tian ; Meijuan, Gao ; Jin, Li ; Kai, Li
Author_Institution :
Beijing Union Univ., Beijing
Abstract :
The key technology of robot is motion control system. In order to improve the performance of robot, a robot motion control system was designed based on EPXA10 which has integrated FPGA and the embedded processor ARM. A method for robot motion control system based on FPGA and the embedded processor ARM is presented in this paper. The hardware segment depicted the whole plan for the system and the controlling process, while the software segment planed the ISR flow and the PID-control flow of micro-motors. Study proved that, comparing with conventional control, this control system will have obvious superiority at aspects of reliability, miniaturization, power consumption, and performance/ price ratio. The remote control function of the motion system can be extended based on ARM.
Keywords :
control engineering computing; field programmable gate arrays; microprocessor chips; motion control; robots; three-term control; ARM; EPXA10; FPGA; ISR flow; PID-control flow; advanced RISC machine; micromotors; robot motion control; Control systems; Energy consumption; Field programmable gate arrays; Hardware; Micromotors; Motion control; Power system reliability; Process control; Robot control; Robot motion; ARM; FPGA; Mobile robot; Motion control;
Conference_Titel :
Control Conference, 2007. CCC 2007. Chinese
Conference_Location :
Hunan
Print_ISBN :
978-7-81124-055-9
Electronic_ISBN :
978-7-900719-22-5
DOI :
10.1109/CHICC.2006.4347363
