一种机器人嵌入式网络化控制系统体系结构的研究

针对机器人控制系统，探讨了基于串行总线的网络化控制系统的优缺点，提出了一种新的以ARM和FPGA为核心的机器人分布式多CAN总线控制系统体系结构．该体系结构有效地降低了网络化控制系统中对总线带宽的需求，可以实现对控制信息的分级处理和实时的伺服控制．还设计了基于FPGA的多CAN总线控制器，介绍了基于Linux的机器人控制软件体系结构的实现方法．最后，在模块化机器人中的应用表明该网络化控制系统体系结构是可行的．

An Architecture of Embedded Networked Control System for Robots

The advantages and disadvantages of the networked control system based on serial-bus for robot control system are discussed.A distributed multi-CAN(controller area network) bus control system which is made up of ARM(advanced RISC machine) and FPGA(field programmable gate array) is described.This architecture effectively reduces the bandwidth requirement for networked servo system,and can implement hierarchical control information processing and real-time servocontrol. A multi-CAN bus controller based on FPGA is designed,and the realization method of the robot control software architecture on Linux is analyzed.The networked control system is validated by its application to modularized robot.