基于CPG的六足步行机器人运动控制系统研究

Study on Motion Control System of a Six-legged Walking Robot Based on CPG

根据CPG双层网络的特点,采用分层分布式系统架构研究制了一种机器人运动控制系统.其基于FPGA的星型总线,在保证通信速率的同时提高了系统抗干扰能力.在单足控制器中嵌入双NIOS完成CPG网络解算和电机运动控制.FPGA的灵活使用和外部3-H桥驱动的搭建,可以使单足控制器同时控制3个无刷电机并获得最小的体积.

A kind of robot motion control system was designed.According to the characteristics of the CPG double network,a layered distributed system framework was used.The star bus based on FPGA can ensure the rate of communication and improve the anti-interference capability of the system.Two NIOS cores embedded in the single legged controller can complete network solutions and motor control.The flexible use of FPGA and external 3-H bridge make the single leg controller could control three brushless motors simultaneously while obtain minimum volume.