基于DSP的仿蚯蚓移动机器人控制系统硬件设计

Design of earthworm-like micro-robot controller hardware on DSP

在对仿蚯蚓移动机器人运动规划及其驱动器的工作原理研究的基础上,设计了基于DSP的机器人运动控制系统硬件电路。采用模块化的设计思路,以DSP为核心模块,外围电路扩展了D/A、A/D、RAM电路,主要的控制信号由可编程逻辑器件CPLD实现,DSP与上位机及外围扩展电路之间的通讯通过DSP的SCI以及McBSP和SPI等接口实现。基于DSP的数字控制方式,不需要采用复杂的模拟电路,对噪声信号有较强的抗干扰能力,提高了系统的可靠性。

Based on the research of motion planning of earthworm and the working principle of actuator,it proposed a earthworm-like micro-robot control circuit based on DSP, The system adopt the concept of modularization,chooses DSP as the system key,expand the circuits of D/A,A/D,RAM. And the main signals of control are actualized by CPLD. The communication between lower （DSP） and upper computer and DSP and peripheral circuits is completed respectively by SCI part,McBSP and SPI. Using the method of DSP digital control,which needed not complicated analog circuit and has strong inhibition to noise signal,enhance the reliability of the system.