| 摘要: |
| 为了解决高精度多轴机器人控制系统中FPGA块RAM容量有限的问题, 提出了一种保存规划运动指令的方法。即：利用FPGA块RAM生成dual-RAM，通过轴选判断器选择出有效运动参数，再按轴号分别存入各dual-RAM。实验结果表明：采用该方法，直接使用FPGA内部RAM，避免了外部RAM扩展，从而精简了指令存储电路，增强了系统可移植性。该机器人系统目前已成功应用于工件上下料作业，系统运行稳定，点重复精度达0.02 mm，水平联动速度达到5.2 m/s。 |
| 关键词: 多轴机器人 指令存储 dual-RAM 规划运动 |
| DOI： |
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| 基金项目:国家自然科学基金 |
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| Method of instruction storage in multi-axis robot based on FPGA’s dual-RAM |
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| Abstract: |
| In order to solve the problem that the RAM of FPGA is limited in high-precision multi-axis robot system, a method of saving the programmed motion instruction is proposed. Firstly select out the effective motion parameters, then store the effective parameters in each FPGA’s internal dual-RAM according to the axis number. The experiment results indicated that: With this method, using the RAM of FPGA, the external expansion of RAM or Flash is avoided, thereby got the instruction storing circuit simplified, and the portability of system enhanced. The robot system runs stably in the work piece blanking and stacking, with a high precision of 0.02 mm, and speed of 5.2 m/s. |
| Key words: multi-axis robot instruction storage dual-RAM programmed motion |