In view of the problem that the real-time performance of Stewart robot is not high,a scheme for software and hardware cooperative calculation of the kinematics solution of Stewart parallel robot based on ZYNQ chip is proposed. The ZYNQ chip integrates two different embedded chips,PL(FPGA)and PS(ARM). PL(FPGA)is used as a co-processor of PS(ARM)to solve kinematics algorithms,while PS(ARM)runs real-time systems for real-time control of the Stewart robot. Experiments show that the error between the kinematics solution of the Stewart parallel robot calculated by the hardware and the theoretical calculation result is within a reasonable range,and the solution time meets the requirement that the control period of the real-time system is less than 2 ms.
关键词
Stewart并联机器人/运动学/ZYNQ芯片/高层次综合/Linux系统
Key words
Stewart parallel robot/kinematics/ZYNQ chip/high-level synthesis/Linux system
维普
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