模块化机器人嵌入式多核主控制器设计

Design of Embedded Multicore Main Controller for Modular Robot

针对模块化机器人控制,提出一种基于FPGA的片上多核主控制器设计方案。利用SOPC技术在单一芯片上设计两个完全不同结构的核心:Nios II软核处理器和协处理器。详细介绍了机器人控制的路径规划流程、Nios Ⅱ软核体系、协处理器的构架及接口以及基于SOPC的片上多核系统实现。实验结果验证了多核主控制器设计的可行性。

Aiming at modular robot control,this paper proposes on chip multicore main controller design based on FPGA. It uses SOPC technology to design two cores with completely different structure in one chip. They are Nios II soft core processor and coprocessor. This paper describes the path planning process of robot control, Nios II soft core system, the coprocessor architecture and interface and onchip multicore system based on SOPC. Experimental results demonstrate the feasibility of the multicore main controller design.