FPGA-based Control System for 6-UPS Medical Parallel Robot

摘要：

In this paper, a high-performance control system based on field programmable gate arrays (FPGAs) for a 6-UPS medical parallel robot is present The control system utilizes the hardware and software reconfigurable feature of the advanced FPGA device to achieve our goal. Firstly, the parallel robot and its control system components and functions are introduced. Secondly, the control system general description including its hardware is given. Thirdly, NIOS II soft core processor module, HALL module, PWM signal module, DC motor drive module, encoder signal processing module, and the soft-core software are designed in detail. All the modules can be duplicated and reconfigured to control as many motors as needed. Finally, to estimate the control system, a driving test based on RS232 is carried out. Satisfactory test results demonstrate that the FPGA-based control system is a flexible, high-performance solution to the motion control of our 6-UPS medical parallel robot

关键词： FPGA 6-UPS medical parallel robot module RS232

作者: Dongmei Wu Zhijiang Du Heqiang Tian Zhenyu Jiang Lining Sun

作者单位: State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin, China

会议类型: 国际会议

会议名称: 2010 International Conference on Digital Manufacturing and Automation(2010 数字制造与自动化国际会议 ICDMA 2010)

会议地点: 长沙

会议语种:英文

页码: 743-747

在线出版日期: 2010-12-18（万方平台首次上网日期，不代表论文的发表时间）