多自由度系统运动学方程求解的VHDL应用

Hüseyin Oktay ERKOL; Hüseyin DEMREL

doi:10.1631/jzus.C1400120

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多自由度系统运动学方程求解的VHDL应用

电子工程 | Updated：2022-05-19

- 多自由度系统运动学方程求解的VHDL应用
- A VHDL application for kinematic equation solutions of multi-degree-of-freedom systems
- 信息与电子工程前沿（英文） 2014年15卷第12期页码：1164-1173
- Affiliations：
  
  1.Department of Mechatronics Engineering, Faculty of Technology, Karabük University, Karabük 78050, Turkey
  2.Department of Electrical and Electronics Engineering, Faculty of Engineering, Karabük University, Karabük 78050, Turkey
- Author bio：
  
  [ "Hüseyin Oktay ERKOL, E-mail: oktayerkol@karabuk.edu.tr" ]
- Funds：
  
  Project (No. KBü-BAP-13/1-DR-011) supported by the Department of Bilimsel Araştırma Progeleri, Karabük University, Turkey
- DOI：10.1631/jzus.C1400120
  中图分类号： TN43;TP242
- 收稿：2014-04-01，
  
  修回：2014-11-13，
  
  纸质出版：2014-12
- Accepted：
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多自由度系统运动学方程求解的VHDL应用[J]. 信息与电子工程前沿（英文）, 2014,15(12):1164-1173.

Hüseyin Oktay ERKOL, Hüseyin DEMREL. A VHDL application for kinematic equation solutions of multi-degree-of-freedom systems[J]. Frontiers of Information Technology & Electronic Engineering, 2014, 15(12): 1164-1173.
多自由度系统运动学方程求解的VHDL应用[J]. 信息与电子工程前沿（英文）, 2014,15(12):1164-1173. DOI： 10.1631/jzus.C1400120.

Hüseyin Oktay ERKOL, Hüseyin DEMREL. A VHDL application for kinematic equation solutions of multi-degree-of-freedom systems[J]. Frontiers of Information Technology & Electronic Engineering, 2014, 15(12): 1164-1173. DOI： 10.1631/jzus.C1400120.

摘要

研究目的

针对多自由度系统的运动学计算复杂，在实时运动控制中，单处理器下获取计算结果耗费较长时间，且难以获取期望的精确结果，本文引入协处理器增加系统自由度。设计硬件并实现其在六足机器人运动中的应用。

创新要点

引入协处理器增加系统自由度，分担主处理器负载。

研究方法

根据六足机器人机械结构（图1）建立运动学方程。选择合适的串口、电机、芯片结构（图6）。用VHDL语言编写程序并在FPGA上测试。

重要结论

设计运动学协处理器用于六足机器人关节角度的计算。该协处理器包含内部串行端口，可与具有内部控制器和串口的电机配合使用。设计的硬件将运算得到的关节角度通过串口发送至六足机器人。并可以通过串口从主处理器获取必要的参数来计算关节角度。用VHDL语言编写并在FPGA上测试。所设计的硬件亦可以应用于其他机器人。

Abstract

As kinematic calculations are complicated

it takes a long time and is difficult to get the desired accurate result with a single processor in real-time motion control of multi-degree-of-freedom (MDOF) systems. Another calculation unit is needed

especially with the increase in the degree of freedom. The main central processing unit (CPU) has additional loads because of numerous motion elements which move independently from each other and their closed-loop controls. The system designed is also complicated because there are many parts and cabling. This paper presents the design and implementation of a hardware that will provide solutions to these problems. It is realized using the Very High Speed Integrated Circuit Hardware Description Language (VHDL) and field-programmable gate array (FPGA). This hardware is designed for a six-legged robot and has been working with servo motors controlled via the serial port. The hardware on FPGA calculates the required joint angles for the feet positions received from the serial port and sends the calculated angels to the servo motors via the serial port. This hardware has a co-processor for the calculation of kinematic equations and can be used together with the equipment that would reduce the electromechanical mess. It is intended to be used as a tool which will accelerate the transition from design to application for robots.

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